Package: ipa-client

"ipa-client" package binaries on CentOS:

/usr/sbin/ipa-client-automount /usr/sbin/ipa-client-install /usr/sbin/ipa-getkeytab /usr/sbin/ipa-join /usr/sbin/ipa-rmkeytab

You may install this package on CentOS with yum install ipa-client