Embed Container View with Navigation Controller Programmatically

I want to embed a Navigation controller with the container view and use the same navigation controller to push some other view controller. Here is the workaround with the help of storyboard.enter image description here

Can I embed the navigation controller with Container View programmatically? I can able to add SecondViewController's content as a subview in the container view. But in that case, my Navigation controller will not work.

In the BaseViewController I have added this code,

let secondViewController = self.storyboard?.instantiateViewController(withIdentifier: "SecondViewController")
let navigationController = CustomNavigation(rootViewController: secondViewController!)
// taking a navigation controller reference, so that I can use this to Push other view controller.
Helper.shared.customNavController = navigationController 
self.addChildViewController(navigationController)
secondViewController?.view.frame = CGRect(x: 0, y: 0, width: containerView.frame.size.width, height: containerView.frame.size.height)
containerView.addSubview((secondViewController?.view)!)

It added the SecondViewController's content in the Container View. But using this navigation controller (Helper.shared.customNavController) I am not able to Push any other View Controller.