When VoiceOver is on, you need to use special gestures to unlock iPad, go to the Home Screen, open Control Center, switch apps, and more.
On an iPad with a Home button: Press the Home button using the finger you registered with Touch ID.
On an iPad with Touch ID: Rest your finger on the top button using the finger you registered with Touch ID.
On an iPad with Face ID: Wake iPad and glance at it, then drag up from the bottom edge of the screen until you hear two rising tones (if Face ID is enabled).
If prompted, enter your passcode. To avoid having your passcode spoken as you enter it, Control VoiceOver using the rotor on iPadAccessibility features for vision on iPad