The initial calculation can be found in a basic hydraulics text.
t = 2v/q where the dimensions are demonstrated below.
For your problem you calculate initial flow as follows:
q = (2 x 10)/60 = 0.00555 m^3/sec = 0.196 ft^3/sec [Shifting to English units in order to use available equations]
If we assume the initial level in the tank is 6 feet, then
q = (0.0438)(d^2)(h/K)^0.5 [Crane TP410]
where q =ft^3/sec, d=diameter of pipe inches, h=height ft, K=Crane resistance factor = fL/d, f = Moody friction factor, L = pipe length, d = pipe diameter (same units as pipe length).
Solving for the above, we have (d^4)/K = (522)( q^2)/h = 3.33
From here on you will need to use trial and error based on the physical situation you have (length of pipe, fittings required, etc) and find a configuration that meets the ratio (d^4)/K. Problems that will help are found in TP410.
For example a lower bound on the diameter can be found quickly by determining the diameter of a pipe with just an entrance and exit loss [K= 0.5 + 1.0 = 1.5]. This calculates to be d > 1.49 inches. Then, to start, if you assume a 2”/sch40 pipe [d=2.067”], then K max = (2.067)^4)/(3.33) = 5.5. If we subtract the entrance and exit losses, Kpipe = 4.
From a Moody chart for 2” pipe at velocity of 8.4 ft/sec , f = .022 and L = dK/f, or
L = (2.067)(4)/(.022) = 375 inches = 31+ feet.
Therefore a 2”/sch40 pipe, 33 feet long, without any elbows, etc., will drain a tank containing 10 m^3 of liquid with an initial height of 6 feet in 60 minutes.