You'll need to add an electro-mechanical alternator if they are still made, or add the logic using latching relays or a PLC.
The basic idea is that you need something that can "remember" which pump was the last to run. The old alternators were specifically designed for this.
You can still have a lead-lag scheme if both pumps need to run at times. The alternator just changes which pump starts first.
Talk with any MCC or motor starter manufacturer - I'm sure they can provide typical schematics.