You can, but it's not recommended (The Legacy manual says you shouldn't.) due to the difference in how each system controls the motor speeds. Some people do it, others don't. A forum search and you should find plenty on the topic, as well as the best practices if you are set on doing it.
From what I remember you have to use the Legacy unit as the trailing unit in TMCC mode and the TMCC unit must be the lead unit. From there you should be okay as long as the engines are similar in speed.
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