Erase the pencil mark with a clean, soft pencil eraser
Use a white vinyl eraser for stubborn marks
Lightly rub with a damp microfiber cloth
Apply a small amount of baking soda paste and gently wipe
Use a magic eraser very lightly on painted walls
Test any method on a hidden spot first
Avoid scrubbing hard to prevent damage to the paint
Repaint the area if the mark will not come off