If you mean human life I am a lot less optimistic than liljoshu. The problem is long term. There would be nowhere to go to escape the gravity.
One's head is around 50 cm above one's heart. Double the gravity and to maintain normal brain blood pressure while standing you add another 50 cm of water pressure or about 37 mmHg. That takes a normal person to the threshold of hypertension just to stay conscious. Meanwhile the added pressure on his lower leg veins is about three times that. So in 2G the best you can hope for is a reduced life expectancy and huge problems with varicose veins.
Then you have to consider pregnancy.
Then you have to consider stumbling and the greatly increased force with which your upper body and head would hit the ground if you were human normal height.
If you mean life evolved on such a planet, it will be appropriately adapted. The Giraffe and big dinosaurs show that Earth type life can deal with the blood pressure problem. Dwarfism shows that humans of normal intelligence do not need to be more than three feet tall. Bipeds on such a planet will be short and very stocky so that stumbling is not often fatal.
The centaur body plan might work better but that may not be an evolutionary choice. The body plan of all vertebrates is that of a fish. If life always evolves in the oceans first, then the number of limbs is probably decided before adaptation to life on dry land starts.
Edit: one other evolutionary thought. Here on Earth it was life in trees that created grasping hands with opposable thumbs. On a high G planet are trees possible and could anything bigger than a squirrel live in them? And if not, could intelligent technological life ever arise without those hands?