Tips for pairing them
Use beige as the base and brown for contrast, in a 60-30-10 split with white or cream. In fashion, a brown coat with beige pants and a cream sweater is very elegant. At home, beige walls with dark wood furniture or brown leather feel warm. A green or terracotta accent brings it to life.
Contrast between them: 5.5:1. Enough to put text in one color on the other.