I think I'm a little confused by this question. You have a Contacts app on the iPad - to open it, just press it.
If you mean to open Contacts from another app, like, say, Mail - while in Mail, open a new message press on either the To or the CC/BCC lines. Then, start typing the name you want to address, their name(s) should appear in a dropdown box. Then you can select the name by just pressing on that. Rinse and repeat for any names you wish.
If I'm way off base in what you need, please clarify? Thanks.
Marilyn