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Why are you posting this in the ePSXe section?

To answer your question, in PCSX2 configure Lilypad's plugin, and configure the "Left Analog Stick" with the Arrow Keys, and the D-Pad controls can be the numpad keys. Since pretty much most of the PS2 games are capable of Analog controls you won't really be using the D-Pad as much compared to PSX games.
 
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