Let Γ denote a bipartite distance-regular graph with diameter D≥4 and valency k≥3. Let X denote the vertex set of Γ, and for any integer i, let Γi(x) denote the set of vertices at distance i from x. Let V=ℂX denote the vector space over ℂ consisting of column vectors whose coordinates are indexed by X and whose entries are in ℂ, and for z∈X let ẑ denote the element of V with a 1 in the z coordinate and 0 in all other coordinates. Fix vertices x,u,v where u∈Γ2(x) and v∈Γ2(x)∩Γ2(u), and let T=T(x) denote the Terwilliger algebra with respect to x. Under certain additional combinatorial assumptions, we give a combinatorially-defined spanning set for a T-module of endpoint 2,and we give the action of the adjacency matrix on this spanning set. The vectors in our spanning set are defined as sums and differences of vectors ẑ, where the vertices z are chosen based on the their distances from x,u, and v. We use this T-module to construct combinatorially-defined bases for all isomorphism classes of irreducible T-modules of endpoint 2 for examples including the Doubled Odd graphs, the Double Hoffman–Singleton graph, Tutte’s 12-cage graph, and the Foster graph. We provide a list of several other graphs satisfying our conditions.