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Touch the YouTube app on your iPad/iPhone and select a music video to play. {Note: This might work with other music apps as well}
Now, press the Home button. Note: this will close the YouTube app but don't worry. Press the Home button twice (quickly) like you would to exit your apps.
Swipe to the right and you'll see your music controls and the name of the YouTube video playing in your playlist. Hit 'Play' and enjoy :)