Use the Exchange setup for GMail instead of the default IMAP one. Besides enabling contact syncing, you will also get the ability to sync multiple calendars. However contact groups are not supported. Only iCloud accounts can do that: something to do with the limitations of Active Sync.
If you scroll down to the bottom of the screen while you're in Gmail (in Safari) you can select "desktop" version and then when it switches to the desktop version you can access your Contacts as you do on a reg. computer.
If you scroll down to the bottom of the screen while you're in Gmail (in Safari) you can select "desktop" version and then when it switches to the desktop version you can access your Contacts as you do on a reg. computer.
Last time I checked (and it was a while ago) only the HTML version contacts (found in the same place) works properly with Safari on the iPad. It's ugly, and low on features, but it does work.
Most people choose to set their GMail accounts up as an Exchange account, which lets you sync with the native Contacts app. Not perfect, labels are not supported, but better than the HTML website.
Edit: Just tested the desktop version again. It's working better, though it lags a lot and not all the tools were working as expected. Might be usable with some practice.