OP, if you have a look at a burette and a pipette you will notice a significant difference. It would be very hard to do a titration with just two pipettes. However, you could use two burettes. It's just much easier to place 20/25mL of acid/base in a pipette, than to a flask, rather than a burette since you don't have to line it up to a mark. Hence one pipette and one burette.
And never use a beaker, always use a conical flask. As when you are titrating, the solution must be swirled so the end point can be clearly seen. It's hard to swirl in a beaker, as it would easily spill. A conical flask is much better.