Voice Over is an accessibility feature that activates a personal assistant who reads any content you tap (this differs from Speak Selection in that ANY content can be read with a tap, including times, battery life, and non-body texts). To turn it on, go to Settings -> General -> Accessibility -> Voice Over. This setting is a little harder to turn on than most settings. First, toggle the Voice Over switch as usual. A confirmation message will pop up; you must DOUBLE-TAP the Ok in order to really turn Voice Over on. On this same page, there is also a Voice Over tutorial to get you acquainted with the modified Voice Over iPad controls (they are slightly augmented from regular controls).
Have fun with your iPad!