Addressing the issue of beam alignment with Fabry-Pérot cavities, this paper proposes an adaptive dual-mirror step adjustment method based on the gradient ascent of transmitted resonant mode energy to achieve cavity coupling. First, leveraging the relationship between the reflection angles of the dual mirrors and the beam pointing, independent adjustment of the incident beam position and angle was proposed. Second, the EfficientNet neural network was used to classify resonant mode images, enabling identification of different mode images. Third, the energy gradient of the cavity mode was utilized for adaptively dual mirrors step adjustment, enabling low-cost and efficient cavity coupling of both fundamental and higher-order modes. The beam pointing adjustment method proposed will offer a novel solution for coupling lasers with Fabry-Pérot cavities in ultra-stable lasers and gravitational wave detection.