Micrsoft created something to solve this: Microsoft Identity Integration Feature Pack.
http://www.microsoft.com/downloads/details.aspx?FamilyID=d9143610-c04d-41c4-b7ea-6f56819769d5&displaylang=enIt does exactly what you're looking for. Here's a good walk-thru:
http://www.msexchange.org/tutorials/GAL-Sync-Identity-Integration-Feature-Pack-IIFP.htmlUnfortuntely, its not the most intuitive thing, but it works! It creates Contacts in the target OU of the target Domain for Users, Groups and Contacts in the Source domain, and vice-versa.