I think you would need code for this, since there is not a print action.
Typically you would create a specific print view, this is best practice since most Infopath views are built for screen input not to fit on a paper. In View properties you can set the view for printing.
Then rather than two views you would make your print view have two pages one for each or something, unless you need to send it to different printers or something.
You also can have routines that will autoprint documents. That could maybe be simpler rather than putting the code in the form itself. Trigger a batch process instead.