To download music from YouTube onto your iPad, first select the YouTube video with high quality you want to transfer. Copy the video URL then convert the file using a free file conversion site. Wait for the email and download the file. Right click the saved file to change the song information and move the file to the appropriate iTunes folder. Play the song and sync your iPod. Check out the tutorials for additional information http://www.youtube.com/watch?v=L80gzOwHJOo.
You could use a free youtube downloader to help you download music from youtube. Here is the program I used for almost one year and it is really powerful: http://www.leawo.com/youtube-downloader/ It is free, so just download the program to have a try. Hope this can help you.