I have similar problem when trying to sync my iPad.
I managed to start the sync process but after towards the end of the sync process, it popped up the "session could not be started" message.
At first I ignored this issue as it appeared that nothing has gone 'wrong'.
However, the same thing happen again each time I tried to backup/sync the iPad.
My solution is deleting the device's backup from iTunes Preferences. Restart the iPad and resync.
This happened about a couple of times previously and the solution described above seemed to correct the problem.
I am using the latest iOS 4.3.2 on my iPad (1st gen).