This work presents a simple approach for arbitrary phase-step digital holography using two holograms without ambiguity. Using this approach, a magnitude-contrast image is reconstructed without dc term and twin-image blurring, but the phase-contrast image is filled with phase distortion. Computer simulations are carried out to verify the proposed approach, and optical experiments are performed to validate it. The advantages, benefits and limitations of the proposed method compared to conventional two-step phase-shifting methods are also discussed herein.