How do I transfer my contacts from Iphone to Ipad?

Assuming that you are using the native Contacts App - and that both iPad and iPhone are signed-in to iCloud with the same AppleID - ensure that you have enabled iCloud Contacts on both devices:

Settings > [Your Name / AppleID] > iCloud > [Apps Using iCloud] Show All > Contacts - set to ON

GameBred13 wrote:

I set up my iPad, but the contact names did not transfer over when messaging.

On yore ipad you turn on contacts with whatever cloud or mail program you use to sync them with.