Do you have an active/active configuration or are they part of the same site? Considering you're using the web adaptor, I assume they're in the same site. If so, there's no need to federate both machines that participate in the site, you simply federate the site. Both machines will recognize they're federated. If you've set up your servers so they're redundant, then you'll want to federate using a URL that can be aware of the health of the machines for example:
Services URL: https://gismachine1/arcgiswebadaptor - this URL is for users to reach the Services in web applications. Admin access can be disabled.
Admin URL https://gismachine1/adminwebadaptor - this URL can be used as the admin URL for federation. It's registered with the ability to reach Manager and the Admin API through the web adaptor.
The admin URL can also be a third party load balancer if you want to go that route.