Task Agent - Failover to secondary

We are looking to test out our Task Agent failover process in the event one of our task agent server goes down and we need to move them to our secondary task agent server. Currently we have two companies on one server and the other two on the other server. If we needed to move the first two to the other server, what is required to do this. Is it just a change in the System Agent Maintenance screen on the Task Appserver URL and then restart the server? Anything other steps I’m missing or should be aware of as I am testing?