You connect an Apple Pencil to an iPad by turning on Bluetooth, then either plugging it in with a cable/adapter (Apple Pencil 1st gen or USB‑C) or snapping it onto the iPad’s magnetic side (Apple Pencil 2nd gen/Pro) and tapping the on‑screen Pair/Connect prompt.

Step 1: Check which Apple Pencil you have

  • Apple Pencil (1st generation)
    Round body, removable cap on the end that reveals a Lightning or adapter connector.
  • Apple Pencil (2nd generation / Pro)
    One flat side, no removable cap, attaches magnetically to the side of the iPad.
  • Apple Pencil (USB‑C)
    Has a small cap that opens to reveal a USB‑C port for a USB‑C cable.

Knowing the model matters because the pairing method is slightly different.

Step 2: Turn on Bluetooth on your iPad

  • Open Settings → Bluetooth.
  • Make sure the Bluetooth switch is on before trying to pair the Pencil.

If Bluetooth is off, the Apple Pencil will not connect even if it is plugged in or attached magnetically.

Step 3: Connect and pair (by model)

Apple Pencil 1st generation

  • Remove the cap on the back of the Pencil to reveal the Lightning connector.
  • Plug it into your iPad’s Lightning port.
    • If you have a 10th‑gen iPad with USB‑C, use the USB‑C to Apple Pencil adapter plus a USB‑C cable to link Pencil and iPad.
  • Wait for the Bluetooth Pairing Request pop‑up and tap Pair.
  • Unplug the Pencil; it should now be ready to write, draw, and navigate.

Apple Pencil 2nd generation

  • Confirm Bluetooth is on.
  • Find the flat edge of the Pencil and the magnetic side of your iPad (usually the right side).
  • Attach the Pencil to the magnetic connector ; it should snap into place and start charging.
  • A message appears on screen; tap Connect or Pair.

Once paired, the Pencil will reconnect automatically when you attach it again.

Apple Pencil (USB‑C)

  • Make sure your iPad is on iPadOS 17.1 or later for USB‑C Pencil support.
  • Open the cap on the Pencil to reveal the USB‑C port.
  • Connect a USB‑C cable from the Pencil to the iPad’s USB‑C port.
  • When the connection prompt appears, tap Connect/Pair.
  • You can disconnect the cable after pairing; it stays connected via Bluetooth.

Step 4: Test the Pencil

  • Open Notes and start a new note.
  • Try drawing or writing; strokes should appear instantly if the Pencil is connected.
  • If you want handwriting to become text, turn on Settings → Apple Pencil → Scribble.

You can also customize actions like double‑tap (2nd gen/Pro) to switch tools or open the color palette.

If it won’t connect

  • Make sure the Pencil is charged by leaving it plugged in (1st gen/USB‑C) or magnetically attached for a few minutes (2nd gen/Pro).
  • In Settings → Bluetooth , tap the i next to “Apple Pencil” and choose Forget This Device , then repeat the pairing steps.
  • Restart your iPad, then try pairing again.
  • If it still fails and you’ve checked compatibility, the Pencil or iPad hardware may need Apple Support.

Information gathered from public forums or data available on the internet and portrayed here.