Precise Doppler measurements from the Anglo-Australian Telescope (AAT) UCLES spectrometer reveal periodic Keplerian velocity variations in the stars HD 160691 and HD 27442. HD 160691 has a period of 743 days, a semiamplitude of 54 m s-1, and a high eccentricity, e=0.62, typical of extrasolar planets orbiting beyond 0.2 AU. The minimum (Msini) mass of the companion is 1.97 MJ, and the semimajor axis is 1.65 AU. HD 27442 has a 415 day period, a semiamplitude of 32 m s-1, and an eccentricity of 0.058. The minimum mass is 1.43 MJ, and the semimajor axis is 1.18 AU. This is the first extrasolar planet orbiting beyond 0.2 AU that is in a circular orbit similar to solar system planets. The photon-limited precision of AAT/UCLES measurements is 3 m s-1 as demonstrated by stable stars and Keplerian fits to planet-bearing stars. In addition, we present confirmation of four previously announced planets. Based on observations obtained at the Anglo-Australian Telescope, Siding Spring, Australia.