Match up RMS (continuous) power output of the amplifier to RMS power handling of your subs.
Make sure you take impedence into consideration. For example a dual 4 ohm voice coil subwoofer will require a 2 ohm stable amp (4 ohm / 2 voice coils = 2 ohms total), and the amp's RMS power should match your sub's RMS power at 2 ohm. If you get amp which RMS power matches your sub, but at 4 ohms, power output would not be sufficient.
If you have two dual 4 ohm subs connected in parallel, then you need a 1 ohm stable amp.
4 ohm / 4 voice coils = 1 ohm total
There is also an option of connection the subs in series (i.e. dual 2 ohm sub = 4 ohm total), but this is generally only used when you have many low impedence subs and/or an amplifier that can't handle very low impedence level with all of them hooked in parallel.