On newer versions of MATLAB, you can set the NumColumns property of legends to get a 2x3 legend. However, in older versions, you can get two legends by adding a hidden axes. For example, the following code shows one of the ways.
ax = axes();
hold(ax);
ax2 = axes('Visible', 'off');
hold(ax2);
x = 1:10;
y = 1:10;
plot(ax, x,y, x,y+1, x,y+2);
plot(ax2, x,y+3, x,y+4, x,y+5);
% adjust the axis of hidden and visible axes to have same limits
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