If your original series is stationary then you can regress on original y(t)'s. But if you need to first difference your series in order to obtain stationarity, then I believe you'll need to regress against the first-differenced values. AR(2) is similar to AR(1), your Y values are the, well, Y values, and your X values are your Y values lagged 2 periods, I think.
[NEAS: An AR(2) model has two independent variables: the Y values lagged one period and two periods.]