Step 1:
Open the Settings app on the iPad (gray icon with gears).
Step 2:
Scroll down the left-hand menu and tap Multitasking & Gestures.
Step 3:
On the Multitasking & Gestures screen, tap Full Screen Apps (the first option). A blue checkmark will appear confirming your selection.
Screenshot: Multitasking & Gestures screen — select Full Screen Apps (highlighted in red)