You mean from a 1997-2000 B12. A 2001 is a 2G.
Yes, the footpegs (but not the footpeg brackets) should interchange. The RH peg & rubber are the same P/Ns (except the 2G has an extra "balance weight"). The 1G uses the same P/N peg & rubber on both sides, but the 2G has different ones, but they should still work.