It is possible to set up direct syncing with the Mac in the Info tab in iTunes. You must have your iPad connected and selected in iTunes to see it.
The better method is to sync directly with your online account. Depending on your account type it may possible to sync calendars and contacts as well as mail. This works better than direct syncing with the computer since it will automatically update whenever you open that app and have internet service.
What type of account do you have?
Or you can wait for iOS 5 due out sometime this Fall. The free iCloud account + iOS 5 will keep you contacts backed up and synced between devices.
No problem. Kind of looking forward to iCloud myself, though since I have MobileMe it probably won't be radically different, well except for the free thing.