Ipad locked every time I connect to Itunes

Every time I connect my Ipad to my laptop it is Itunes says to try again because it is locked, this only happens with my Ipad and NOT my Iphone, how do I set my Ipad so I don't have to unlock it every time I connect it to Itunes?

The next time you attach your iPad to your Mac, make sure you authorize it in iTunes otherwise it will keep asking.

I have a windows laptop and it pops up "do you want this computer to make changes to this device" apple start stop device and I click yes every time for any device I plug in, is that what you mean by authorizing?