To connect your Apple Pencil to your iPad, simply follow a few easy steps.
1st generation Apple Pencil, remove the cap and plug the Lightning connector into the iPad’s Lightning port. A pairing prompt should appear on the screen, and you just need to tap Pair.
2nd generation Apple Pencil, attach it to the magnetic connector on the side of the iPad (where the flat edge is), and a pairing prompt will pop up. Tap Pair, and your Apple Pencil will be connected and ready to use.