Find two orthonormal vectors of x1,x2

I have two vectors x1=[2;-3;1] and x2=[1;1;-1], which says the span of these two vectors are all vectors of the a1*x1+a2*x2. and how can I find two orthonormal vectors x_hat1; x_hat2 that span the same space as these two vectors? Should I use norm to achieve the goal or other commends? Thank you!

Answer 1

[Matt J]

orth([x1,x2])