How to undisable iPad without a computer
How to undisable iPad without a computer and forgotten password
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See instructions in: How to remove your iPhone, iPad, or iPod touch passcode without a computer - Apple Support
If that option is not available, you will need to use a computer. See: If you forgot your iPad passcode - Apple Support including the following:
If you don't have a computer and you can't borrow one, you need to go to an Apple Store or Apple Authorized Service Provider for help.