I mainly got that from this
post. There was another thread by Carolinasp3 that explained it more clearly (but I don't know where it is). As I remember his explanation - impedance AVERAGES 2-ohms, but it is not constant with frequency, so if you have two 4-ohm subs in parallel and you are playing loud 30Hz test tones to them, you might hit 1-ohm at the amp - but I'm not sure how or why that works.
2002 Ford Focus
Sony CDX-GT410u
Sony XT-100HD HD Tuner
Stock speakers, no amp, no subs