IPad Safari touch events
Both iOS and Android browsers support touchStart, touchEnd and touchMove: http://backtothecode.blogspot.com/2009/10/javascript-touch-and-gesture-events.html
Detecting multitouch events seems to be possible on iOS: http://www.html5rocks.com/mobile/touch.html
And if you prefer jQuery, there is jQuery mobile: http://jquerymobile.com/demos/1.0a4.1/#docs/api/events.html
All mobile safari events, per Apple: https://developer.apple.com/library/archive/documentation/AppleApplications/Reference/SafariWebContent/HandlingEvents/HandlingEvents.html
This project handles it brilliantly, used it myself.
http://cubiq.org/iscroll-4
http://cubiq.org/dropbox/iscroll4/examples/simple/
View it on an iDevice.