Yes you need to jailbreak. And even then, i'm not sure it's possible.
EDIT: Just checked. It's Parallax in Cydia. I'm not sure if it's iPad-compatible though.
In addition to Parallax, there were 2-3 other programs that would allow you to do this. Keep in mind this was for the iPhone so not sure if they work with iPads or not. A couple of these programs are paid but have a free trial period to test them out with.