Chances are you will need to do a force restore
Just ran into this problem myself, it's like a vicious cycle. The iPad is telling me to connect toiTunes, and iTunes is telling me that it can not connect to the iPadtill I unlock it, and being disabled doesn't allow you to enter in apasscode.
So I have done a force restore on the iPad. This is what I had to do
Holddown the home button and power button at the same time. This forces thescreen to fade and the Apple Logo to reappear. Don't let go of thebuttons until the iPad shuts off.
Once the iPad is off plug the usb cable into the computer.
While holding down the Home button plug the cable into the iPad.
Contunueholding the home button until the you the itunes logo and the pictureof the cable on the iPad screen. This may take up to 30seconds.
iTunes should now detect the iPad and you can perform a restore. Just follow the on screen instructions and it should restore.
Hopefully you have a recent back up.