There is a small catch. In order for yum to be able to catch those packages you'll have to add new repository. Namely, CentOS team decided to go with a mechanism they call Continuous updates. In that way they'll try to be faster, but, time will tell if it will work or not.
The quickest way to do that is to run the following command:
rpm -ivh ftp://ftp.funet.fi/pub/mirrors/centos.org/6/cr/i386/RPMS/centos-release-cr-6-0.el6.centos.i686.rpm
or for 64-bit systems:
rpm -ivh ftp://ftp.funet.fi/pub/mirrors/centos.org/6/cr/x86_64/RPMS/centos-release-cr-6-0.el6.centos.x86_64.rpm
This will install necessary data for yum. Then, just run 'yum update' and that's it!
Still, we'll have to wait a bit more for 6.1, and especially for FreeIPA 2 that I'm waiting for!