apple pencil connecting

Hello, I have a Apple Pencil (1st generation)and I have a iPad mini 5... I charged my Apple Pencil and I plugged it in to my iPad and while it’s plugged in it says connected at the Bluetooth tap in settings. Then as soon as I unplug it’s says not connected. It usually works right away... should I charge it more? I already restarted my iPad but it did nothing... please help!