MyOtherViewController *movc = [[MyOtherViewController alloc] init];
[self.view addSubview:movc.view];

UIView *newView = [[NSBundle mainBundle] loadNibNamed:@"MyNewXib" owner:self options:nil];

// assign it to a property
@property (strong, non atomic) UIView *viewFromXib;
@sythesize viewFromXib=_viewFromXib;

self.viewFromXib = newView;

// add it to your hierarchy
self.viewFromXib.frame = CGRectMake( /* this will start out 0,0 the size from the xib */ );
[self.view addSubview:self.viewFromXib];

// add gesture recognizer
UITapGestureRecognizer *tapGR =  [[UITapGestureRecognizer alloc] initWithTarget:self action:@selector(tap:)];
[self.viewFromXib addGestureRecognizer:tapGR];