Make sure your iPad is turned on
Turn on Bluetooth
Remove the Apple Pencil cap if using Apple Pencil 1st generation
Plug Apple Pencil 1st generation into the iPad Lightning port
Tap Pair
Attach Apple Pencil 2nd generation to the magnetic connector on the side of the iPad
Tap Pair if prompted
Connect Apple Pencil USB-C to the iPad with a USB-C cable
Tap Pair if prompted
Wait for the Apple Pencil to connect
Start using Apple Pencil on the iPad