The question is tagged (geometry) not (analytic-geometry), so I assume you need to solve the problem by a construction, not calculation. Here are first four steps:
- Let your given lines be denoted as $a$ and $b$.
- Construct lines $f$ and $g$ on both sides of the given line $a$, parallel to $a$, at a distance $R$ from $a$.
- Similary construct lines $k$ and $l$, parallel to $b$, $R$ apart from it.
- Find four intersection points, say $P_1$ through $P_4$, of $f$ and $g$ with $k$ and $l$. These are center points of four circles with radius $R$, tangent to the two given lines.
Here additional question comes: are you given two lines, as the question states, or two line segments, as in the title? If there are two tangent lines, you're done at step 4. However if you have two line segments, you need to check, if the tangency points are in the segments. Then:
- For each $P_i$ draw two lines, one perpendicular to $a$ and the other one to $b$. Check if they meet $a$ and $b$, respectively, inside the given segments. If so, the $P_i$ is a center point of the circle sought. Otherwise discard it.
Note that the solution may contain from zero up to four circles, depending on the line segments configuration.