Product bought in Pair but with separate Option Value & Qty

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I need to enable purchase of a product in pair, e.g. an upper and a lower piece of the same product. The product has an option (e.g. colour in a dropdown list) where each of the pair has its own value to be chosen. Each of the product pair has its own order quantity to be specified. Then one single Add To Cart button would add the product pair to the shopping cart.

Is there an existing extension that can do this please?

Thanks A Million!