The only experience I have is with Gateways, but the same approach should work with an SBC or other edge device.
Basically, you sent it up with two proxies (the two IC Servers) and then use the option to "Park" (as opposed to "Home") What should happen is, following a switchover. the next call will be sent to the old Primary and will obviously not get through, so the device will move to the new Primary. "Parking" means "use the last one that worked" so all subsequent calls will get sent to the new Primary until such time as there is another switchover and...
For the sake of completeness, "Homing" means "always try the first proxy first then work your way down the list", which you would use in a remote office with a SIP Proxy configured for survivability.
Some edge devices also allow for actively monitoring their proxies with SIP OPTIONS messages, which can help detect the failure without a call.
HTH