We consider how to generate and detect Einstein-Podolsky-Rosen (EPR) entanglement and the steering paradox between groups of atoms in two separated potential wells in a Bose-Einstein condensate. We present experimental criteria for this form of entanglement and propose experimental strategies for detecting entanglement using two- or four-mode ground states. These approaches use spatial and/or internal modes. We also present higher-order criteria that act as signatures to detect the multiparticle entanglement present in this system. We point out the difference between spatial entanglement using separated detectors and other types of entanglement that do not require spatial separation. The four-mode approach with two spatial and two internal modes results in an entanglement signature with spatially separated detectors, conceptually similar to the original EPR paradox.