For a long time in iOS, scrolling was fairly broken in mobile web applications, and so it wasn't possible to have a fixed header and footer. Various JavaScript libraries, like Joe Hewitt's Scrollability were created to solve this issue by rendering the scroll bars and momentum scrolling in JavaScript. However, there's often a performance lag with these libraries, preventing the application feeling native.

IOS5

Fortunately this has been fixed in iOS 5, by the addition of the -webkit-overflow-scrolling css property. Combined with a overflow property, this can be used to enable native scrolling:

.panel .content {
  -webkit-overflow-scrolling: touch;
  overflow: auto;
}

As you can see in the example above, you need to set the proprietary property to touch in order to enable it. Unfortunately, this feature is still under development, and still fairly buggy. For now, make sure you don't have any children to the scrolling area with: