It's called DNS RR (Round Robin). Basically you setup a DNS server(s), either your own or your ISP's, and your assign the two records of the host name in your zone file:
www IN A 216.10.10.1
IN A 64.20.20.2
If you do this yourself you will need to setup your DNS server as the authority of your domain. You will need change those settings with your registrar.
If you do it through your ISP then you can add the records in their zone files.
Now when
www.yourdomain.com is resolved it will try the first address and if not found it will try the second; it will round robin the addresses so you need to make sure the services are clustered.