Make sure your Apple Pencil is compatible with your iPad
Turn on Bluetooth on your iPad
Attach Apple Pencil to the iPad magnetically or plug it into the iPad, depending on the model
Tap Pair when the pairing prompt appears
If prompted, follow any on-screen instructions
For Apple Pencil 2nd generation, keep it attached to the side of the iPad to stay paired
For Apple Pencil USB-C, connect it to the iPad with a USB-C cable if needed
If pairing does not appear, restart the iPad and try again
If needed, charge the Apple Pencil and try pairing again