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Do you have the iPad and iPhone registered to the same Apple ID?
On both devices, you can go into Settings then iTunes & App Store - It will show the Apple ID at the top. Do both devices have the same account showing?
Since they are the same, the contacts should automatically sync across the devices.
Have you checked to see if they are syncing across already?
They will sync automatically through iCloud -- You do not need to do anything.
Yes, they sync automatically through iCloud -- That is why I had you confirm the same Apple ID on the devices.
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