Connect Apple pencil to ipad

Before anything else, ensure that you have updated to the current version of iPadOS - at time of writing, this is iPadOS 13.6.1:

Settings > General > Software Update

iPad Air3 has a known issue with iPadOS 13.5.x that interferes with pairing and operation of the Apple Pencil. This issue is resolved in iPadOS 13.6 and later.

Which generation pencil do you have?

Have you followed the advice already given - and updated your iPad to iPadOS 13.6.1?

That’s good to hear. Many thanks for confirming the fix.