Okay, this might be a dumb question but I can't figure this out. I've got a table with a table cloth, the table cloth is dynamic. How do I have the cloth already draped over the table? Every simulation I've done has the cloth rigid and then falling around the table. I just want it to start draped around the table. Thanks in advance to all those who are kind enough to help me out.

Simply set the draping frames to about 20 - 30 in the "Simulation Settings"

Create your simulation and run it. Now pick a frame the looks good and use the grouping tool to create a new prop from the table cloth in its draped form. Now you have a table cloth that is already draped. You can delete the original rigid one, you can save the new one to the library as a prop, You can even clothify the new one so it will react to wind or figure movements. For the adventurous this trick can be used to fit DYNAMIC clothes for one figure to another. At frame 1 tuck the figure in how ever you have to (Morph scale, trans, bend, whatever). At frame 5 or 10 completely zero the figure (morphs too) in your simulation set it up so there are no (or very few carefully placed) "constrained" vertexes. Run the sim and pick a frame where the clothes look right on the new figure. Now use group editor to create a new prop of the cloth. You will need to setup the constrained vertexes as the were on the original clothes.