Shar Tahl
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You are not attacking with two weapons at once, so no you will not take the penalty. AoO are a separate entity and do not count for action economy or reflect on anything else done in the round. They have their own 'attacks per round' and rules.
Two-Weapon FightingIf you wield a second weapon in your off hand, you can get one extra attack per round with that weapon. You suffer a –6 penalty with your regular attack or attacks with your primary hand and a –10 penalty to the attack with your off hand when you fight this way. You can reduce these penalties in two ways. First, if your off-hand weapon is light, the penalties are reduced by 2 each. An unarmed strike is always considered light. Second, the Two-Weapon Fighting feat lessens the primary hand penalty by 2, and the off-hand penalty by 6.
Your attack penalties are per those attacks, not a general penalty that persists like the AC penalty for power attack. Nothing in this text implies that it is otherwise. It talks of wielding a weapon in your off hand and attacking with both and getting those penalties. If you do not attack with both, you do not get the penalties. Taking an AoO if a single attack, no penalties.
Jiggy
RPG Superstar 2015 Top 32, RPG Superstar 2012 Top 32
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From the Two-Weapon Fighting section of the Combat chapter:
If you wield a second weapon in your off hand, you can get one extra attack per round with that weapon. You suffer a –6 penalty with your regular attack or attacks with your primary hand and a –10 penalty to the attack with your off hand when you fight this way. You can reduce these penalties...(blah blah blah)
Note the complete absence of the phrases "for one round", "until your next turn", or any variant thereof, describing the duration of the penalties. It simply says "when you fight this way". Thus, it seems clear that the penalties only apply to the series of attacks of which the extra attack (the one with the second weapon) is a part.