Apple Pencil Pairing Issues

So, I just received an iPad (6th Gen) and a 1st Gen Apple Pencil for my birthday and I am having an issue with pairing my Apple Pencil to my iPad. First, when I plug in the Pencil, it asks if I want to Pair and I say yes. Then, it shows as connected then not even a second later, it goes to Not Connected. I tried all the steps suggested by Apple Support with no success. I also tried checking the firmware of the Pencil and when I go to the About section, I see the Apple Pencil appearing and disappearing like the iPad is recognizing it but not really recognizing it. I am planning to go to the Apple Store to see what can be done without having to purchase another Pencil but I wanted to see if there was a fix to this so that I don't have to go into the store.