The Rydberg blockade mechanism is now routinely considered for entangling qubits encoded in clock states of neutral atoms. Challenges towards implementing entangling gates with high fidelity include errors due to thermal motion of atoms, laser amplitude inhomogeneities, and imperfect Rydberg blockade. We show that adiabatic rapid passage by Rydberg dressing provides a mechanism for implementing two-qubit entangling gates by accumulating phases that are robust to these imperfections. We find that the typical error in implementing a two-qubit gate, such as the controlled phase gate, is dominated by errors in the single atom light shift, and that this can be easily corrected using adiabatic dressing interleaved with a simple spin echo sequence. This results in a two-qubit Mølmer-Sørenson gate. A gate fidelity ∼ 0.995 is achieveable with modest experimental parameters and a path to higher fidelities is possible for Rydberg states in atoms with a stronger blockade, longer lifetimes, and larger Rabi frequencies.