Hi ,
Yes in exchange 2010 for mailbox servers we do have the High Availability feature called DAG .You need to add both the servers in DAG to achieve HA.
Once it is done Then i would suggest you to add those server to LB for load balancing the client connections.
If In case if you organisation is not interested to purchase HLB or software LB then you may need to go with windows NLB or windows DNS round robin method for load balancing the client connections.But still there would be some drawbacks on these methods
of load balancing.
Reference Link for DAG :
http://blogs.technet.com/b/winde76/archive/2011/03/23/step-by-step-create-a-database-availability-group-dag.aspx
http://msexchangeguru.com/2012/02/20/dag-implementation/