For the first-generation Apple Pencil: You have to pull off the cap and insert it into your iPad’s charging port. A small message appears on the screen. Click on it Pair, and you’re done.

The second-generation Apple Pencil feels even easier. Place it on the flat side of your iPad. It snaps in, starts charging, and connects instantly. No buttons. No setup screens.
If it refuses to link, turn on Bluetooth in Settings. Still stuck? Restart the iPad and try again. That usually clears it.

Once connected, test it in the Notes app. Draw a line. Write a quick reminder. Mark a photo. Every stroke feels smooth and quick, like a pen on paper.

Check the battery often. Second-gen users can leave the Pencil attached to the iPad to keep it charged. First-gen users can plug it in for a fast top-up. You can click the above link to know more.