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The two-dimensional (2D) spatial electric-field mapping apparatus [Opt. Express 14, 8694 (2006)] plays an important role in experiments involving metamaterials, such as the verification of free-space and ground-plane invisibility cloaks. However, such an apparatus is valid only for the transverse-electric (TE) mode and is invalid for the transverse-magnetic (TM) mode, as it requires perfectly magnetic conducting (PMC) planes, which do not exist in nature. In this paper, we propose a 2D spatial magnetic-field mapping apparatus based on artificial magnetic conductor (AMC) plates. The AMC structure is designed using periodically perfectly electrical conducting patches with a sub-wavelength size on a dielectric substrate backed with the ground plane, which can simulate a PMC plane. Using two parallel PMC plates to form a TM-wave planar waveguide, we realize the 2D spatial magnetic-field mapping apparatus in order to measure the external and internal magnetic fields of metamaterials. Two types of excitations, a plane-wave source and a magnetic dipole, are used to feed the system. In order to validate the performance of the magnetic-field mapper, two gradient-index metamaterial lenses are measured, and the experimental results are in good agreement with the full-wave simulations.