Start by playing the fifth fret of the sixth string (the note "A"). Play that note. Now, we're going to use the pattern we just learned for the minor pentatonic scale, except in this case, we'll start on the second note from the pattern. So, slide your finger up the string two frets to the seventh fret, and play that note. Now, slide up two frets, and play that note. Slide up three frets, and play that note. Then, slide up two frets, and play that note (you'll note that we're now at the end of the diagram above). Slide up three final frets, and play that note. You should be at the 17th fret (the note "A"). Now, play the scale back down the fretboard, until you arrive again at the fifth fret. You've just played an A major pentatonic scale. Strum an A major chord - it should sound like it "fits" with the scale you just played.
You should spend time playing both the major and minor pentatonic scales. Try strumming an A minor chord, then playing the A minor pentatonic scale up the sixth string. Then, play an A major chord, and follow it with the A major pentatonic scale.