I asked this question originally on ServerFault.com, but there seems to me more activity regarding TFS 2010 on StackOverflow.com, so I decided to re post it here...
To have this AD group added to a TFS group for your upcoming projects you have to modify your project template. There you can preconfigure your projects, exspecially set permissions to groups and users.
For the existing projects you have to do it by hand. I don't know any other way than that.