Yes, you do need a second license in order to do this.
From http://www.cisco.com/en/US/products/sw/secursw/ps2086/products_qanda_item09186a0080124e7c.shtml
Q. Can I purchase or license a backup server?
A. No, a separate Cisco Secure ACS server license must be purchased for backup and recovery purposes. Cisco Secure ACS servers can be administered to run as a recovery or failover server configuration. Because Cisco Secure ACS is a central control service in your network, Cisco highly recommends that you configure a backup server for failover and recovery.