Sync iPad to iTunes after setting up iPad

When I got my iPad2 I set it up independently of my Mac using the new features of iOS5.

But - mainly for managing podcasts and apps (where I can subscribe to a series of podcasts and have them just download and be available after syncing on my iDevice) - I want to get wireless syncing with iTunes working.

But I can't see how to do this with the iPad already set up. If I plug it in with a cable to my Mac I get the option to set the iPad up as new device, or to restore from a backup - but I don't want to do either of these - it's already set up - I just want to allow it to sync to iTunes.

Is this possible without wiping the device and starting again?