In this work, we study the antiferromagnetic (AFM) spin dynamics in heterostructures which consist of two kinds of AFM layers. Our micromagnetic simulations demonstrate that the AFM domain-wall (DW) can be driven by the other one (driven by field-like Neel spin-orbit torque, Phys. Rev. Lett. 117, 017202 (2016)) through the interface couplings. Furthermore, the two DWs detach from each other when the torque increases above a critical value. The critical field and the highest possible velocity of the DW depending on several factors are revealed and discussed. Bases on the calculated results, we propose a method to modulate efficiently the multi DWs in antiferromagnet, which definitely provides useful information for future AFM spintronics device design.