How to get into my disabled ipod touch (5th gen)?

I couldn't remember the passcode and now it's been disabled until I connect it to iTunes, but when I connect it to iTunes it says to enter the passcode to use it with iTunes. I don't have the original computer I connected it to (I'm not sure I even used one to set it up), but it's in my list of devices on iCloud so I figure there must be a trusted way of getting into it without having to restore to factory settings.