Arc elasticity using midpoint method is:
$$
\frac{Q_{new} - Q_{old}}{\frac{Q_{new} + Q_{old}}{2}} \cdot \frac{\frac{p_{new} + p_{old}}{2}}{p_{new} - p_{old}}.
$$
You want to prove that revenue increases after a price increase, i.e.
$$
Q_{new} \cdot p_{new} > Q_{old} \cdot p_{old}
$$
if and only if demand is inelastic, i.e.
$$
\frac{Q_{new} - Q_{old}}{\frac{Q_{new} + Q_{old}}{2}} \cdot \frac{\frac{p_{new} + p_{old}}{2}}{p_{new} - p_{old}} > -1.
$$
This is fairly straightforward: multiply the inequality with the nominator, eliminate the products that appear on both sides and you have your result.
One can similarly prove that revenue decreases as price increases if and only if demand is elastic.
In case someone is curious about the point elasticy proof:
Suppose total revenue ($p \cdot D(p)$) increases as price increases, that is
\begin{eqnarray*}
\frac{\text{d} \left( p \cdot D(p) \right)}{\text{d} p} & > & 0 \\
\\
p \cdot \frac{\text{d} D(p)}{\text{d} p} + D(p) & > & 0.
\end{eqnarray*}
Rearranging this we get
\begin{eqnarray*}
p \cdot \frac{\text{d} D(p)}{\text{d} p} & > & - D(p) \\
\\
\frac{p}{D(p)} \cdot \frac{\text{d} D(p)}{\text{d} p} & > & - 1
\end{eqnarray*}
where the expression on the left hand side is point elasticity of demand. The algebraic manipulations are reversible, thus we have shown that revenue increases as price increases if and only if demand is inelastic.
Note that here we are talking about marginal price changes; we only proved that revenue reached its local maximum. It is possible that several local maxima exist and the global maxima is elsewhere.