It was the first time they stepped into the zoo's outdoor exhibit area.
The Sumatran tiger cubs, named Taru and Asim, are nearly four months old.
They explored their enclosure under the watchful eye of their mother, Malea.
They'll remain at the zoo for about one year, and then they'll be given to other zoos.
Frankfurt Zoo has a long history of breeding the rare species since it first acquired tigers more than 60 years ago.