>>> A = np.random.randint(5, size=(10,3))
>>> A
array([[1, 3, 0],
[3, 2, 0],
[0, 2, 1],
[1, 1, 4],
[3, 2, 2],
[0, 1, 0],
[1, 3, 1],
[0, 4, 1],
[2, 4, 2],
[3, 3, 1]])
>>> idx = np.random.randint(10, size=2)
>>> idx
array([7, 6])
>>> A[idx,:]
array([[0, 4, 1],
[1, 3, 1]])
Putting it together for a general case:
A[np.random.randint(A.shape[0], size=2), :]
For non replacement (numpy 1.7.0+):
A[np.random.choice(A.shape[0], 2, replace=False), :]
I do not believe there is a good way to generate random list without replacement before 1.7. Perhaps you can setup a small definition that ensures the two values are not the same.