Thank you, all for helping me.

I have solved the problem. I followed the several ways in both Principal and Mirror Server as follows.

|--Created two new local users Server1\ABC (P) and Server2\ABC (M)

|--Run SQL Server and SQL Server Agent by Server1\ABC (P) and Server2\ABC (M)

|--Created two new logins by Server1\ABC (P) and Server2\ABC (M) with windows authentication in SSMS

|--Grant Connect to Endpoint::Mirroring To [Server1\ABC] (P) and [Server2\ABC] (M)

Then I configured database mirroring. Now its working fine.

Is there any security issue? Please let me know.