Thanks for the reply. Can you please explain how can I achieve this?
In this scenario, will the incoming calls still be routed through the kamailio. What about the outgoing calls? 
My use case to use kamailio was to send separate incoming numbers to separate asterisk servers. Do you think this is feasible with the solution of having asterisk register to SIP via kamailio.

On Fri, Jan 4, 2019 at 4:18 PM David Villasmil <david.villasmil.work@gmail.com> wrote:
This exact same thing happened to me, and I found the easiest is to register from your asterisk. Have kamailio just forward the registrations and every asterisk will be registered normally.

I know it’s not ideal, but I couldn’t make it work, and at least it’s now working perfectly.

On Fri, 4 Jan 2019 at 07:51, Prashant Gupta <prashant@farmguide.in> wrote:
Hi,
I have the following architecture - SIP provider <-> Kamailio <-> Asterisk servers
I currently do not have any issues connecting my asterisk servers to Kamailio server. I am however having issues connecting my Kamailio server to my SIP provider. I am using the uac module for registration and have stored my credentials in the uacreg table. When I sniff on my network, I am able to see Register message being send out and receives an OK from my provider. But I am still unable to get incoming messages to Kamailio. Also these SIP responses from the SIP provider do not make it to kamailio route as I have logged any message that enter the request_route.
SIP Messages from Wireshark - 
1) 19 563.919267 10.67.XXX.XXX 10.232.XXX.XXX SIP 497 Request: REGISTER         sip:ims.airtel.in  (1 binding) | 

2) 20 564.040917 10.232.XXX.XXX 10.67.XXX.XXX SIP 480 Status: 401 Unauthorized | 

3) 21 564.041574 10.67.XXX.XXX 10.232.XXX.XXX SIP 744 Request: REGISTER sip:ims.airtel.in  (1 binding) | 

4) 22 564.173338 10.232.XXX.XXX 10.67.XXX.XXX SIP 649 Status: 200 OK  (1 binding) | 

Here 10.232.XXX.XXX is my SIP providers proxy address and 10.67.XXX.XXX is my local IP of the lan connected to the SIP line.
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