Yoroi and Daedalus are designed to play nicely together, here is some more info about how the two wallets are related.
What is the difference between Daedalus and Yoroi?
Yoroi is a light wallet, which means it does not download the full copy of the blockchain. It connects to trusted servers which have the full copy of the blockchain. Daedalus is a full-node wallet which means that it downloads, stores and validates the full copy of the blockchain so it can operate in a trustless manner and it does not rely on centrally hosted servers.
How can I move from Daedalus to Yoroi?
There is a migration feature in Yoroi that you can use to move from Daedalus to Yoroi.
Can I send ADA from a Daedalus wallet to my Yoroi wallet?
Yes, but if this is your wallet, consider restoring your account on Yoroi instead as this will ensure your total balance is transferred.
Can I transfer my account back to Daedalus?
Yes, but new addresses created for the wallet in Daedalus will not appear in Yoroi. It is best to create a new wallet in Daedalus and send your ADA to this new wallet.