Charge your Apple Pencil (if needed).
Turn on Bluetooth on your iPad.
Unlock your iPad and open the Home screen.
For Apple Pencil (1st generation): remove the cap and plug the Pencil into the Lightning port on your iPad.
For Apple Pencil (2nd generation): attach the Pencil to the side of your iPad magnetically.
Follow any on-screen pairing prompt.
Confirm the Pencil is paired by checking the Pencil battery status in the iPad’s Batteries widget or Settings.