This article describes the motion of two arbitrarily located free moving particles in a cylindrical tube with background Poiseuille flow at low Reynolds number. We employ the Lamb's general solution based on spherical harmonics and construct a framework based on cylindrical harmonics to solve the flow field around the particles and the flow within the tube, respectively. The two solutions are performed in an iterated framework using the method of reflections. We compute the drag force and torque coefficients of the particles which are dependent on the distances among the cylinder wall and the two particles. In addition, we provide detailed flow field in the vicinity of the two particles including streamlines and velocity contour. Our analysis reveals that the particle-particle interaction can be neglected when the separation distance is three times larger than the sum of particles radii when the two particles are identical. Furthermore, the direction of Poiseuille Flow, the particle position relative to the axis and the particle size can make the two particles attract or repel. Unlike the single particle case, the two particles can move laterally due to the hydrodynamic interaction. Such analysis can give insights to understand the mechanisms of collision and aggregation of particles in microchannels.