It's done all the time.
The VFD needs a speed command. That can come from a number of sources. In the VFD programming, you simply program the VFD speed command source to be the keypad, then using the keypad, you set the frequency to be 60Hz and leave it alone.
One key thing though; use the VFD start / stop digital inputs to control your load, not a contactor down stream of it. Opening and closing a contactor down stream of a VFD is potentially going to harm it (eventually).
" We are all here on earth to help others; what on earth the others are here for I don't know." -- W. H. Auden