As mentioned on the official support page, the Apple Pencil (1st Gen) is compatible with iPad Mini (5th Gen), iPad (6th Gen and later), iPad Air (3rd Gen), iPad Pro 12.9-inch (1st and 2nd Gen), iPad Pro 10.5-inch, and iPad Pro (9.7-inch).
If you have a first-generation Apple Pencil, you can connect it to the following iPad models: iPad mini (5th generation) iPad 6th generation and later) iPad Air (3rd generation)
Pair your Apple Pencil (1st generation) with your iPad Remove the cap and plug your Apple Pencil into the Lightning connector on your iPad. When you see the Pair button, tap it. After you pair your Apple Pencil, it will stay paired until you restart your iPad, turn on Airplane Mode, or pair with another iPad.
Unlock your iPad and remove the cap of the Apple Pencil. Connect its Lightning connector to your iPad's Lightning port. Now, tap Pair.
If you have a first-generation Apple Pencil, unscrew the cap on the back of the Pencil and plug it into your iPad's charging port. Unlock your iPad, and tap the Pair button that appears. If you have a second-generation Apple Pencil, latch the Pencil onto the magnetic connector on your iPad's side.
The Pencil ought to automatically reconnect after the iPad or the Bluetooth module is restarted. It doesn't. Hopefully a future iteration of the Apple Pencil, perhaps using a W series chip, will correct this. If you have Airplane Mode enabled, that will un pair the pencil.
Before you can start using your Apple Pencil, you'll need to pair it to your iPad or iPad Pro.
Plus Sidecar enables using Apple Pencil for tablet input on Mac apps for the very first time. Convenient sidebar and Touch Bar controls let users create without taking their hands off iPad.
Plug the Apple Pencil into the Lightning port on your iPad. Make sure that Bluetooth is enabled on your device, as it is required to connect with the Apple Pencil. Wait for a few seconds until a 'Bluetooth Pairing Request' appears on the screen with the message "Apple Pencil would like to pair with your device."
If you have a second-generation Apple Pencil, attach your Apple Pencil to the side of your iPad using the magnetic connector (all you should need to do is hold your Apple Pencil to the side of your iPad). If it connects automatically, skip to step 5. Tap Pair. You can now set up your Apple Pencil.
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Make sure to center your Apple Pencil on the magnetic connector on the right edge of the iPad. Restart your iPad, then try to pair again. Go to Settings > Bluetooth and make sure that Bluetooth is turned on. On the same screen, look under My Devices for your Apple Pencil.
One last ditch thing you can try is to plug the Pencil's Lightning connector into the iPad. Then, try a simple hard reset of your iPad by holding down both the Home and sleep/wake buttons simultaneously until your iPad goes to black and restarts with Apple logo, then release the buttons.
1. Remove the cap and plug your Apple Pencil into the Lightning connector on your iPad. 2. When you see the Pair button, tap it.
You can fix your Apple Pencil won't pair problem by cleaning your iPad's charging port, turning Bluetooth off and on, rebooting your iPad, and resetting your iPad's network settings among others. Back when I was a new iPad user, my Apple Pencil failed to pair with my Bluetooth when using notepad.
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