In that case you need to use the syntax \g<group>
Code
import re
string = '03/25/93 Total time of visit (in minutes)'
res = re.sub(r'(\d?\d/\d?\d/)(\d\d)', r'\g<1>19\2', string)
print(res)
Output
'03/25/1993 Total time of visit (in minutes)'
Taken from the docs
In string-type repl arguments, in addition to the character escapes and backreferences described above, \g will use the substring matched by the group named name, as defined by the (?P...) syntax. \g uses the corresponding group number; \g<2> is therefore equivalent to \2, but isn’t ambiguous in a replacement such as \g<2>0. \20 would be interpreted as a reference to group 20, not a reference to group 2 followed by the literal character '0'. The backreference \g<0> substitutes in the entire substring matched by the RE
Take a look at the official documentation of re.sub
for better understanding