A few more steps...
Archive a backup
Please note that you are about to install beta software. Always back up your data and files before installing beta versions of iPadOS. We recommend that you do a backup using Finder. Select your device from Locations in the Finder sidebar. Create a backup then click Manage Backups to Archive your backup.
Note: If you have not upgraded to macOS Catalina or later, you can archive a backup using iTunes. We recommend that you do an iTunes backup and archive it before installing the iPadOS developer beta.
From your iPad, go to BetaProfiles.com to download the configuration profile. Your iPad will notify you when the profile has been downloaded. Open Settings, tap the profile and follow the onscreen instructions to allow installation.
Update your iPad
Tap Settings > General > Software Update to install any available beta software.
You can always delete this installed profile anytime you want to stop receiving developer beta updates. All you need to do is go through the Delete Profile page, which has all the instructions for each of your devices.
However, if you want to roll back to the previous stable version, you'll need to do this through your PC or Mac. There's also a Restore guide if you're interested.