I wonder what's the point in using HAProxy? Whereas everything can be done with Keepalived only!

 virtual_server 192.168.0.99 80 {
    delay_loop 10
    lb_algo wlc
    protocol TCP
    lb_kind TUN

    real_server 192.168.0.102 80 {
        weight 1
        TCP_CHECK {
            connect_timeout 5
        }
    }

    real_server 192.168.0.103 80 {
        weight 1
        TCP_CHECK {
            connect_timeout 5
        }
    }

}

For sessions can be added 'persistence_timeout' or (which is much better) - sharedance.