Add the search bar as title view to the navigation bar. This code example also includes a fix for the extra padding you get by adding it as a title view.
UISearchBar *searchBar = [[UISearchBar alloc] initWithFrame:CGRectMake(-5.0, 0.0, 320.0, 44.0)];
searchBar.autoresizingMask = UIViewAutoresizingFlexibleWidth;
UIView *searchBarView = [[UIView alloc] initWithFrame:CGRectMake(0.0, 0.0, 310.0, 44.0)];
searchBarView.autoresizingMask = 0;
searchBar.delegate = self;
[searchBarView addSubview:searchBar];
self.navigationItem.titleView = searchBarView;