The pair of centripetal and centrifugal force can be represented by
Newton's 3rd law of motion
Newton's Third Law states that for every applied force, there is an equal and opposite force. So, when we apply a force on a rope in swinging an object around us, the rope pulls on the object with that force, and the object provides an equal and opposite force on the rope as well. One can feel that equal and opposite force pulling the rope and the object away. This force is the centrifugal force.