From: <glassfish_at_javadesktop.org>
Date: Fri, 16 May 2008 05:32:05 PDT

https://glassfish.dev.java.net/javaee5/build/GlassFish_LB_Cluster.html

That's for one machine cluster but two machine is not that different. One of the machines needs to have clustering support and be the domain admin server. The other one can be a normal server which you create a node agent and node instance for that's pointing to the other server.
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http://forums.java.net/jive/thread.jspa?messageID=274825