Configuring a DHCP relay on Cisco routers is pretty simple. You use the ip helper-address <DHCP server address> command on the layer-3 interface. The address for the helper address must be reachable from the router on which the helper address is configured, e.g. the Router0 interface toward Router1.
You are putting the helper address on the physical interface for which there are no VLANs. You need to put the helper address on the individual subinterfaces (each subinterface could use a different DHCP server).
Your DHCP server must have a scope for each of the networks for which it is the DHCP server.
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Edit:
Your Router0 needs scopes for VLANs 15 and 20:
ip dhcp pool vlan15
network 195.165.85.96 255.255.255.224
default-router 195.165.85.126
ip dhcp pool vlan20
network 195.165.85.128 255.255.255.224
default-router 195.165.85.158
Router1 needs helper addresses on the interfaces:
interface GigabitEthernet0/1.15
encapsulation dot1Q 15
ip address 195.165.85.126 255.255.255.224
ip helper-address 195.165.85.29
interface GigabitEthernet0/1.20
encapsulation dot1Q 20
ip address 195.165.85.158 255.255.255.224
ip helper-address 195.165.85.29
You also need to make sure that Router0 can ping the G0/1.15 and G0/1.20 interfaces in Router1.
Best Answer
If you're using Cisco devices, you can configure a single DHCP server for all vlans. On the vlan interface, add the command
Where a.b.c.d is the dhcp server. Then you configure scopes for each vlan.