Yes. In Prophecies you have to get to Crystal desert and do various quests to allow you to change. In Factions you have to get to Nahpui and talk to profession changer (500g per prof). In Nightfall you have to complete quest Building the Base: Prisoners of War then talk to profession changer in Command Post (500g per prof). After you have a secondary unlocked you can change professions in any town, outpost or guild hall.
Do you lose anything after you change your secondary profession? Will you have all of the skills available after you change or will you have to get them all?