We consider two-dimensional $(λ_1, λ_2)$-constacyclic codes over $\mathbb{F}_{q}$ of area $M N$, where $q$ is some power of prime $p$ with $\gcd(M,p)=1$ and $\gcd(N,p)=1$. With the help of common zero (CZ) set, we characterize 2-D constacyclic codes. Further, we provide an algorithm to construct an ideal basis of these codes by using their essential common zero (ECZ) sets. We also describe the dual of 2-D constacyclic codes. Finally, we provide an encoding scheme for generating 2-D constacyclic codes from the generator tensor, implementable in a parallel fashion. Through examples, we illustrate that 2-D constacyclic codes can have better minimum distance compared to their cyclic counterparts with the same code area and code rate, generalizing prior work over 2-D binary cyclic coded arrays.