You say you have two drives, but that doesn't really say anything about how your RAID array is configured.
Both devices (entire drives) and partitions can be components in an
mdadm RAID array. You may have only two drives, but you could still have more than one
md device.
If one drive fails, this is what you'll need to do after the drive has been replaced:
- Partition the new drive in a similar fashion to the remaining drive (or not at all, if the array components are raw devices)
- Run mdadm --add <md_array> <new_device_component> to add the new device to the existing md array
- Repeat step 2 for every md array
- (optional) Run mdadm --detail <md_array> to verify that the rebuild process has started
The rebuild/resync process will take some time, depending on the size of the array.