"Waiting for IPad" message & seems stuck during update.

Hi. I am in the process of updating my IPad from software version 3.2.2 to the current version.  My computer took over an hour to download the update and now has been stuck for hours saying it's "waiting for IPad" and that ITunes is updating the software.  The IPad has the Apple icon and a download bar which has not progressed at all.  I am concerned the upgrade has got stuck and I don't know what to do next.  Any ideas of what to do will be gratefully appreciated please.

Hi.  Thanks for your suggestion.  I have tried it but it hasn't worked.  It realises it's in recovery mode but when I go to restore it, it goes back to the original problem.

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