On your iPad, open Settings
Tap Bluetooth
Turn Bluetooth on
On the PS5 controller, press and hold the PS button and the Create button at the same time
Keep holding until the light bar starts flashing
On the iPad, look under Other Devices
Tap DualSense Wireless Controller
Wait for it to connect
If prompted, confirm pairing
To reconnect later, press the PS button on the controller while Bluetooth is on