We analyze excitation of two ground state atoms to a double Rydberg state by a two-photon chirped optical pulse in the regime of adiabatic rapid passage. For intermediate Rydberg-Rydberg interaction strengths, relevant for atoms separated by ∼ten µm, adiabatic excitation can be achieved at experimentally feasible Rabi frequencies and chirp rates of the pulses, resulting in high transfer efficiencies. We also study the adiabatic transfer between ground and Rydberg states as a means to realize a controlled phase gate between atomic qubits.