I have iPad, 1st gen. Running Mac OS 10.6.6, Xcode 3.2.6. All software is up to date, although not running Xcode 4.
The reports say you should sync your iPad with iTunes, then launch Xcode, and the device should show up in the sources panel. Then you just enable dev mode to get the multitouch gestures.
However, no matter what I do, the Xcode app will not detect my iPad.