Quantum computers have the potential to solve certain problems faster than classical computers. To exploit their power, it is necessary to perform interqubit operations and generate entangled states. Spin qubits are a promising candidate for implementing a quantum processor because of their potential for scalability and miniaturization. However, their weak interactions with the environment, which lead to their long coherence times, make interqubit operations challenging. We performed a controlled two-qubit operation between singlet-triplet qubits using a dynamically decoupled sequence that maintains the two-qubit coupling while decoupling each qubit from its fluctuating environment. Using state tomography, we measured the full density matrix of the system and determined the concurrence and the fidelity of the generated state, providing proof of entanglement.