If you already set up the new iPad you'll have to go to Settings>General>Reset and tap Erase All Content and Settings, then go back through the setup screens again and when prompted, choose Restore from iCloud backup (see image below). If you haven't set up your new iPad yet, set it up and choose this option during the setup process. Be sure your iPad is connected to wifi and your charger as this may take some time to complete.
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