Handling Unit Management when Receiving Goods from a Venro

My organization delivers good between companies. I wonder how I can pass all data (especially serial numbers) connected to Handling Unit at GR of the receiving company. We'd like to commit GR which is equal to the sent delivery in respect to handling units. For example if HU containing three items with serial numbers S1,S2 and S3, we can receive a hanling unit and this HU in the new stock contains all the same data (material ids are equal in both companies)