how to remove ipad in recovery mode

That would depend upon what you can see on screen - and/or how the recovery mode was triggered.

Until confirmed otherwise, I’ll assume that you have a message on-screen that instructs you to connect your iPad to iTunes. You will require access to either a PC (with iTunes installed) or a Mac (with iTunes or Finder - as appropriate for the installed version of MacOS).

https://support.apple.com/en-gb/HT203122

If the device is already in recovery mode, showing the cable and computer/iTunes icons, then you need to connect it to a computer. Recovery mode automatically cancels after 15 minutes if it was activated accidentally, if it does not drop after 15 minutes, that's usually an indication there is a software issue meaning it needs to be wiped from a computer.