Best solution I know of is DirecTV's own [somewhat] recently created app. BUT...your DirecTV DVR and your iPad have to be on the same wi-fi network for this to work:
Perform a Google search on the all the following keywords within a single search iTunes iPad and DirecTV
..Edited by Moderator ...No outside Links....As per Forum Rules
The IPad Forum is a community of members from all walks of life and from all over the world coming together to share our experiences and to help each other learn about this wonderful piece of technology the Ipad. There is a wealth of information already here in the many threads we have so doing some searches will answer most of the questions you have. If then you cannot find the answer you are seeking then by all means post your question. There are many friendly and informed members here only too willing to help you.