Check out these two drawings that show how the legs were drawn on a two-point perspective table. Note the second vanishing point is off the page and the dotted lines represent perspective guide lines from the vanish point.
The finished drawing above shows the darker side plane used the right vanishing point (RVP) and the lighter side plane uses the left perspective point (LVP) to draw the leg shape. This is true for the sides of the legs that are underneath the table top. The drawing below, which was drawn first, shows the perspective guide lines creating the table leg shape on the ground. Think about the parallel planes as you are drawing furniture in two point perspective.