How to set up a balancer?

Question

HAproxy

There are two MQ servers, the connection to which will be made through the balancer. Required logic: by default, all TCP sessions go to the first, until it falls, then all sessions are transferred to the second and do not return to the first, even if it returned after the fall, until the fall of the second. Can this be implemented in HAproxy? Or do you need other software?