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Sound Source Localization (SSL) consists of estimating the position of an emitting sound source. Accurate SSL is an essential step in many research areas as well as practical applications in acoustic signal processing and wireless communications. The main contribution of this work is the simplification of the high performance of two-dimensional sound source localization (2D-SSL), in which only four microphones are required. Firstly, the Time Difference Of Arrival (TDOA) based method is applied to a linear array configuration of four acquisition USB microphones, which have been used in two pairs to mount the experimental setup. For each single pair, the Angle of Arrival (AOA) of the sound source is calculated. Then, the 2D-SSL is determined using the trigonometric identities. To implement such a schematic, we have used the microphone array incorporated into the Microsoft Kinect device to acquire sound waves in real-time. To validate the accuracy of our study, laboratory experiments of sound source localization at different sound intensity levels were performed. In terms of RMSE position, the experimental results indicate that the suggested solution can be used to accurately find a two-dimensional sound source location in the far-field.