iPad Pro 12.9-inch, 3rd Gen, Wi-Fi
To check the battery status, momentarily remove the pencil from the charger, then replace it. The charge amount for the Pencil should appear for a short time at the top of the screen. Also, removing it and replacing it will help it pair again.
This link shows what to do if you cannot pair the Pencil, along with additional information. Make sure you look at the gen 2 info, the link is for all Pencils. Use Apple Pencil with your iPad or iPad Pro - Apple Support
I would even look at restarting the iPad as well.
I have been trying that and even that doesn’t work. I kept it off of the magnetic charger for up to ten minutes. Not sure if there is a way to hard-reset the pencil.
Apple Pencil (2nd generation) not pairing with iPad Pro
