I have 2 pawns, 1 controller. How do I switch pawns?

I have two pawns, the main pawn (Ship) uses the left stick the 2nd pawn (Orbiter) uses the right stick. I want to be able to switch the 2nd pawn out for another pawn. I know how to go about it with just one pawn, but how do I do it while controlling two? I’m stumped.