I just got a new 10 th generation iPad and trying to sign in to it with my Apple ID and password I keep get message error connecting to the Apple ID server

Are you having difficulty with initial activation of your new iPad - or subsequent sign-in to iCloud or other services?

Your WiFi/internet Router may be unexpectedly blocking access to some server resources. A restart of your WiFi Router may clear the issue.

To restart you home router, disconnect power - then wait at least 30 seconds before restarting. When you router has rebooted (which may take several minutes), force-restart your iPad:

Force restart iPad (models with Face ID or with Touch ID in the top button)

If your iPad doesn’t have the Home button, do the following:

1. Press and quickly release the volume button nearest to the top button.
2. Press and quickly release the volume button farthest from the top button.
3. Press and hold the top button.
4. When the Apple logo appears, release the top button.

Force restart iPad (models with the Home button)

Press and hold the top button and the Home button at the same time. When the Apple logo appears, release both buttons.

(Re)Activation

See:

If you can't activate your iPhone or iPad (Wi-Fi + Cellular) - Apple Support

If you are experiencing difficulties with (re)activation of your iPad, you may have more success if you connect your iPad to a Windows PC (with iTunes for Windows installed) or a Mac (with iTunes or Finder - as appropriate for the installed version of macOS). Once connected to your computer, your iPad will be detected - and you should be able to activate using iTunes.

1. Make sure that you have the latest version of macOS or the latest version of iTunes.
2. Check that your computer has an Internet connection.
3. With the cable that came with your iPad, connect your iPad to your computer. Locate your device on your computer.
4. Wait while your computer detects and activates your iPad:

• If you see an alert that shows "Set up as New" or "Restore from Backup", it means your iPad is activated.
• If you get an error message that says the "activation information was invalid" or "activation information could not be obtained from the device", use recovery mode to restore your iPhone.

Do you have a stable Wi-Fi connection?