I bought an iPad 6th Generation, Does it work with Apple pencil 2nd generation?

You need to purchase the older, 1st generation Apple Pencil.

The one with the metal, silver band near the top of the Pencil.

The 2nd gen Apple Pencil WILL NOT work with that 6th gen iPad.

The second generation Apple Pencil is only compatible with the iPad Pro models with FaceID. Only these models have the magnetic charging system used by the newest Pencil.

All other iPads featuring a Lightning Connector, that support Apple Pencil, require the first generation (original) Apple Pencil.