How to install the DHCP Server is documented here: Install DHCP Server on Windows Server 2016
Windows Server has a built-in DHCP Failover feature — no Cluster Role required (though clustering works too if you need it).
1. Install and fully configure a DHCP Server as described here.
2. Install the second DHCP Server — but do not configure it. Just install the Role and Features.
3. On the fully configured DHCP Server, open the management console, right-click the relevant Scope, and choose Configure Failover.
4. Specify the second DHCP Server in the wizard.
5. Choose the failover type — the default is Load Balancing, which gives you an active <-> active setup. If unsure, leave everything at defaults.
That's it. :)
H@ppy H@cking