ok so what I should do is when I upload, upload to both servers than right? Just in case they go down? Create an account domain.com on server1.com and server2.com and when I want to update say the index.php file I would upload that to both servers?
All websites use 2 DNS servers (commonly ns1.domain.com and ns2.domain.com where ns1 points to server1 and ns2 points to server2). Both nameservers should contain the same information (i.e. say look at server 1 for my domain). What you are talking about now is load balancing a website through multiple servers, a little different than having 2 name servers....
If you want to load balance a site add multiple A entries for the site, one for each server.... then you will need to mirror the content on both sites (either by uploading it to both, or creating a script that will copy the content on a given interval). Keep in mind you will probably only want to have 1 MySQL server so you don't have to replicate that data as well, this can be on a 3rd server if you wish....
Under this example, there should not be two separate web servers. There will be a single webserver and two DNS servers. The roll of a DNS server is to translate your domain in to the IP address of your server. If you only have a single DNS server and it goes down, there is nothing left to make the connection between your domain and your server.
Ideally you should have two separate physical servers for redundant DNS. Assign the hostname ns1.yourdomain.com and ns2.yourdomain.com to each server respectively. Both DNS servers should host the same configuration so that both point yourdomain.com to your single webserver.
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you setup with your domain name company to point to name servers (ns1.yourhost.com, ns2.yourhost.com, etc.) then these name servers make a link between www.yourdomain.com and your website/server. if you want to use two different servers to serve the content you would set this up on the name server level not with your domain name provider. search "dns round robin"