This is generally not a good idea. Most bookshelf speakers are rated as 8 ohms impedance. If you hook them up like you describe, they are in parallel, which makes the net impedance 4 ohms. Most AVRs are not rated to drive a 4 ohm load. At low to moderate volumes, it may be OK. But there will be a point, either playing at high volume or moderate volume for a long time, where the AVR will overheat and shut down.
Another way to do it is wire the speakers in series: positive of the AVR to positive of one speaker; from that speaker, wire the negative to the positive of the second speaker. Then wire the negative of the second speaker to negative of the AVR. That will put a 16 ohm load on the AVR if the speakers are 8 ohms. Safe for the AVR, but it won't have as much power driving a 16 ohm load as an 8 ohm load.