Sorry, I made two mistakes. The first was matching the female with the male.
The second was 2 variables should be selected randomly every time.

Followed is a revised copy:

## Import data.
moms <- read.delim("females.txt", sep =" ", stringsAsFactors = FALSE, header
= TRUE)
dads <- read.delim("males.txt", sep =" ", stringsAsFactors = FALSE, header =
TRUE) 

## Mate.
## Each male doesn't mate twice.
parents <- cbind(moms, dads[sample(nrow(dads), nrow(moms)),])

## Assign output data frame.
## The matrix "resultscheck" will be used to check the random selections.
output_offspring <- as.data.frame(matrix("", nrow = nrow(moms), ncol = 6),
stringsAsFactors = FALSE) 
resultscheck <- as.data.frame(matrix("", nrow = nrow(moms), ncol = 6),
stringsAsFactors = FALSE) 

## Randomly select two variables both from moms and dads.
for(i in 1:nrow(parents)) {
        selection <- c(1, sample((2:5),2), 6, sample((7:10),2)) 
        output_offspring[i,] <- parents[1,selection]
        resultscheck[i,] <- selection
        }
        
## Show the random selections.
resultscheck

## Output.
write.table(output_offspring,"offspring_7.txt",row.names=F,col.names=c("momID","A1","A2","dadID","A3","A4"),quote=F)
 



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