Go into your Contacts app and select the contact you want to delete. At the bottom left, there is an Edit button - press it. Then, scroll all the way to the bottom and you should see a big red button titled "Delete Contact." Press it and your contact is gone.
The only caution is: The iPad does not have a Trash can. Once you delete a contact, they are gone. There is no undo.
Hope this helps.
Marilyn