Looks like you are using Mac OSX. i would share some of my expereince.
on Debian/Ubuntu and Mac OSX, If you install ant + ivy yourself, you can make ivy lib avaible into your ant lib. but if you use package installation like i do, i..e on Debian/Ubuntu you use apt-get install ant ivy , on Mac OSX, you use port install ant ivy
you will have to do a little tweak yourself, either you run ant with a -lib /path/to/ivy.jar or you create a symbolic link into ant lib.
i.e. on Mac OSX you can
ant jar -lib /opt/local/share/java/ivy.jar
to run it without touch the system.
or you dont care about "polluting" ant lib path, you can
ln -s /opt/local/share/java/ivy.jar /usr/share/ant/lib/ivy.jar
Then you can simply say
ant jar