There are a first leg and a second leg of a table.
Can I say "a first and second legs of a table"?
As far as I know, "a" can't be put with "-s" which represents plural nouns.
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The sentence should read:
The first and second legs of a table
The definite article must be used since you are referring to two particular legs. The article "the" is for both singular and plural nouns.
Also, you are correct in saying English has no plural indefinite article.