Visit this page directly from your your iPad, iPhone, iPod touch or Android device and you will be able to install an app directly on your device. (requires iOS 4.0 or later)
iOS: If your device does not have iOS 4.0 or later, please download the provisioning profile and the application on your computer from this page and install it manually via iTunes.
If installation of an application fails, please install the provisioning profile. After you install the provisioning profile, try to install the application again. If it still fails, your device might not have been approved yet.