If your other battery works in the drill, the faulty battery probably has loose or dirty contacts. Without knowing the exact battery you have i can only offer general advice. If the battery is the type that you slide onto charger it will have several contact slots. If it charges ok, concentrate on the the two conatcts far left and far right.
First thing to try is to get a small bit of wet and dry sandpaper (or an emery board for fingernails) and slide between contacts a few times to remove any dirt or soot and see if this solves the problem.
If not, you will need to try and pinch the two sides of the contact to create a tighter fit. Be careful you don't short circuit the battery whilst doing this, maybe a bit of rigid plastic would be the best tool to use. This should fix the problem.
Good Luck
Rupert
January 2017