If you want a pet to dual wield (assuming it has that capability) just give it a torch. You can buy it for 1 silver (or 2 silver at greedy vendors). Give that it is offhand only, the pet will also attack with his offhand. This is useful if you want to use a lower-level charm pet to kill a higher-level mob (and want them to both get low hp at the same rate.) I usually go buy 40 torches at a time before going to karnors basement.
Also, you can give a torch to a pet holding a 2h weapon and it will still dual wield. Some "cheap" 2h weapons have nice procs.
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