Yes, jump start it or put a battery charger on it. If you only have one battery charger, put it on the starting batteries first. Even if you have nothing more than the standard parasitic draws, you should have a real battery disconnects installed on both sets of batteries. It is a little strange that both sets of batteries went dead.
When I park my MH in different parts of the country, I always disconnect both banks of batteries. I've never had a problem, but I don't want to get out of an airport shuttle and find dead batteries some time. I leave a wrench and headlamp in the battery compartment so that it only takes a couple of minutes to reconnect them.
Bill
Nodwell RN110 out moose hunting. 4-53 Detroit, Clark 5 spd, 40" wide tracks, 10:00x20 tires, 16,000# capacity, 22,000# weight. You know the mud is getting deep when it's coming in the doors.