Re: HOW TO Set Up the Bamboo Pen & Touch in Lucid
Well Oneiric has Gnome 3.2 which has the first implementation of the Wacom tablet applet in System Settings. Doesn't do a whole lot yet. At least we finally have the beginning of a replacement for the old linuxwacom wacomcpl (wacom control panel).
There is a application called Wacom Control Panel (not wacomcpl, but confusingly the same name). I'd approach with caution because the folks doing the configuration applets have had a hard time keeping up with all the changes in the last year and a half.
In the meantime you can do everything manually as shown here and on the mediawiki: