/ AbstractGaia astrometry of nearby stars is precise enough to detect the tiny displacements induced by substellar companions, but radial velocity data are needed for definitive confirmation. Here we present radial velocity follow-up observations of 28 M and K stars with candidate astrometric substellar companions, which led to the confirmation of two systems, Gaia-4b and Gaia-5b, and the refutation of 21 systems as stellar binaries. Gaia-4b is a massive planet ($M = 11.8 \pm 0.7 \:\mathrm{M_J}$) in a $P = 571.3 \pm 1.4\:\mathrm{day}$ orbit with a projected semi-major axis $a_0=0.312 \pm 0.040\:\mathrm{mas}$ orbiting a $0.644 \pm 0.02 \:\mathrm{M_\odot}$ star. Gaia-5b is a brown dwarf ($M = 20.9 \pm 0.5\:\mathrm{M_J}$) in a $P = 358.58 \pm 0.19\:\mathrm{days}$ eccentric $e=0.6412 \pm 0.0027$ orbit with a projected angular semi-major axis of $a_0 = 0.947 \pm 0.038\:\mathrm{mas}$ around a $0.34 \pm 0.03 \mathrm{M_\odot}$ star. Gaia-4b is one of the first exoplanets discovered via the astrometric technique, and is one of the most massive planets known to orbit a low-mass star.