Is there a way to access Google Contacts using iPhone?

Question

I have all my contacts in Google Contacts, so I was wondering is there anyway I could sync them with the contacts on the phone?

Edit: Now I've set it up properly, however there are still no contacts in my phone! Do I need to do anything else after syncing to get the contacts to my phone?

Edit: For some reason I can read my emails using my phone but still no contacts!