Continuum Manipulators (CMs) have gained popularity as a promising solution for exploring unstructured environments due to their dexterity, compliance, and redundancy. Studies on CMs have focused individually on planar and spatial configurations, ranging from single to multi-section constructions. Planar CMs are easier to design, have simpler kinematics equations and possesses less number of tendons with reduced dexterity, redundancy, and reach. Whereas spatial CMs, offer a larger workspace with improved dexterity and redundancy while computationally expensive. This paper introduces a novel two-section tendon-driven continuum manipulator (TDCM) design that uses two planar sections to manipulate the distal end of the manipulator in three-dimensional space to handle external interaction from the environment. The proposed solution offers improved performance in terms of handling payloads and tip deflection under external interactions. This design is intended for agricultural applications such as vegetable harvesting and requires larger workspace and fewer actuators. We demonstrate the effectiveness of our design through kinematic and static analysis. The kineto-static model estimates the profile of the proposed TDCM under external interaction acting at the manipulator's distal end. Finally, the proposed design is experimentally validated by an in-housed prototype of an two-section TDCM, actuated by two tendons/section.