Install and run the iPod the iPad music transfer, connect the iPod with computer by using USB cable.
The iPod's playlist will the shown up in the interface of the program. Go to the "Music" of the left border to select the music you need.

When you finished the steps above, just flip the "Export" to export the music.

Tips: Choose the "Export to iTunes" tab.
Then just sync the music to your iPad through iTunes. Finish!
Now you should have a clear mind about how to transfer music from iPod to iPad. Example is better than percept. You may free download this nice software here to make a trial by yourself.

If you are a Mac user, you can go to iPod to Mac Transfer to transfer music from iPod to iPad on Mac computer.
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How to transfer music from iPhone to computer
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