You can join the second table twice:
SELECT t1.id,
t1.origin,
t1.destiny,
o.name as nameOrigin,
d.name as nameDestiny
FROM table1 t1
INNER JOIN table2 o ON t1.origin = o.id
INNER JOIN table2 d ON t1.destiny = d.id
NB: "destiny" is not the same thing as "destination".