By default, Xcode comes with the last iPhone and iPad emulator which the coder can use, but the real feel and touch could be different. The emulator also has limitations such as vibration disabled and false hardware performance.
For thus reasons, it is encouraged to develop the apps in a real device.
To do it so, you need to set the provision profile and has a valid certificate. The provision profile only can be generated by the web page of developer of apple, so a developer ID is required.
All the steps has been described here:
Although the post has been created long time ago, tt has been tested recently and it works, at least for me.