For your specified regression:
Px = ax*Qx + bxy*Qy + cy
Py = ay*Qy + bxy*Qy + cy
We can introduce a grouping factor:
id <- factor(rep.int(c("Px", "Py"), c(length(Px), length(Py))),
levels = c("Px", "Py"))
We also need to combine data:
z <- c(Px, Py) ## response
x <- c(Qx, Qy) ## covariate 1
y <- c(Qy, Qy) ## covariate 2
Then we can fit a linear model using lm
with a formula:
z ~ x + y + x:id