The first thing to do is check that the configuration is valid

[root@pcmk-1 ~]# ccs_config_validate
Configuration validates

Now start CMAN

[root@pcmk-1 ~]# service cman start
Starting cluster: 
   Checking Network Manager...                             [  OK  ]
   Global setup...                                         [  OK  ]
   Loading kernel modules...                               [  OK  ]
   Mounting configfs...                                    [  OK  ]
   Starting cman...                                        [  OK  ]
   Waiting for quorum...                                   [  OK  ]
   Starting fenced...                                      [  OK  ]
   Starting dlm_controld...                                [  OK  ]
   Starting gfs_controld...                                [  OK  ]
   Unfencing self...                                       [  OK  ]
   Joining fence domain...                                 [  OK  ]
[root@pcmk-1 ~]# crm_mon -1

Once you have confirmed that the first node is happily online, start the second node.

[root@pcmk-2 ~]# service cman start
Starting cluster: 
   Checking Network Manager...                             [  OK  ]
   Global setup...                                         [  OK  ]
   Loading kernel modules...                               [  OK  ]
   Mounting configfs...                                    [  OK  ]
   Starting cman...                                        [  OK  ]
   Waiting for quorum...                                   [  OK  ]
   Starting fenced...                                      [  OK  ]
   Starting dlm_controld...                                [  OK  ]
   Starting gfs_controld...                                [  OK  ]
   Unfencing self...                                       [  OK  ]
   Joining fence domain...                                 [  OK  ]
[root@pcmk-1 ~]# cman_tool nodes
Node  Sts   Inc   Joined               Name
   1   M    548   2011-09-28 10:52:21  pcmk-1
   2   M    548   2011-09-28 10:52:21  pcmk-2
[root@pcmk-1 ~]# crm_mon -1

You should now see both nodes online and services started.