The only thing needed to plumb it to the filter (you should already have one, and if you don't, get one now) is a squeeze bulb between the filter and each motor, this keeps one motor from sucking fuel from the other.
Sounds simple, but I don't like the idea of an open fuel line dangling in the motor well when not in use......water can get in and fuel will slowly leak out into the motor well.If you don't want both engines to run at the same time, the quickest and probably simplest way would be to insert a quick-connect in the fuel line in the splashwell. Then, simply disconnect one engine and connect the other.
Most fuel filters have an extra port that is easily "uncapped" and a separate fuel line run to the kicker from there. That's the way all my fishing buddies run theirs and it works fine. If your kicker has electric start, it makes a nice clean cable path for both the wiring and fuel lines out to the kicker.
No outboard company recommend Tee-ing into a gasline or a filter housing to run an auxiliary motor. There is the chance of sucking air from the non-running engine fuel line which could cause the operating engine to run lean and cause piston damage.
If you cannot run the kicker from a separate tank pickup, then install a 3-way marine fuel selector valve so only one motor at a time can be run. It is the same type of valve used to switch from one tank to another.