Ruby on Rails: How to link/route from one view/page to another view/page with a different controller

I have a view template within the following file in my Rails application:

app/views/static_pages/mission.html.erb

I want to link to that page from a view template in a different folder (corresponding to a different page in the app):

app/views/home/home.html.erb

I don't know what to write in my mission method in the StaticPagesController. I'm also a newbie at Rails. I also don't know how to write the route for it and I suspect I may need to write a get 'something' in my routes.rb file.

Can anybody help with this?