Hi,
Try this if you haven't done so..
Top right hand corner, tap (once) and hold the 2 square boxes, a dropdown box appears. Tap New Window. You should now have a split screen, showing one private and one normal tab.
Now double click the iPad home button as if you are going to close out the apps. Swipe up the private browsing one ( and the other one if you wish) and get rid of it from the screen.
Open safari again , private browsing should be gone and your browsing history intact.
Sounds a bit confusing and there might be an easier way.. but try it