Use Apple Pencil with iPad
On supported models, you can use Apple Pencil (available separately) to draw a sketch, mark up a photo, sign a document, and more.
Pair Apple Pencil (2nd generation) with iPad
On iPad models that support Apple Pencil (2nd generation), attach Apple Pencil to the magnetic connector on the right side of your iPad.
Pair Apple Pencil (1st generation) with iPad
On iPad models that support Apple Pencil (1st generation), remove the cap and plug Apple Pencil into the Lightning connector on your iPad. When you see the Pair button, tap it.
Note: After you pair your Apple Pencil, it stays paired until you restart your iPad, turn on Airplane Mode, or pair with another iPad. Just pair your pencil again when you’re ready to use it.
Use Apple Pencil
You can use Apple Pencil with your iPad to do the following:
Double-tap to switch tools
When you’re working in a supported app, such as Notes, you can double-tap the lower section of Apple Pencil (2nd generation) to quickly switch back to the tool you used last. For example, you can switch from the marker back to the eraser.
To change your settings for double tap, go to Settings 
> Apple Pencil.
Take a screenshot with Apple Pencil
To capture the screen, use Apple Pencil to swipe up from the bottom corner of your iPad.
Charge your Apple Pencil (2nd generation)
Make sure that Bluetooth is turned on (Settings
> Bluetooth).Attach Apple Pencil to the magnetic connector on the right side of your iPad.
Note: To see how much charge your Apple Pencil has left, check below Batteries in Today View widgets.
Charge your Apple Pencil (1st generation)
Plug your Apple Pencil into the Lightning connector on your iPad. You can also charge it with an Apple USB Power Adapter by using the Apple Pencil Charging Adapter that came with your pencil.
Note: To see how much charge your Apple Pencil has left, check below Batteries in Today View widgets.
For more information, see the Apple Support article Use Apple Pencil.