Hi srv97,
Thanks for coming to Apple Support Communities for help with your Apple Pencil and this lag you're experiencing. We'll be sure to get you pointed in the right direction.
To start, please let us know more about what's going on. What's the name of the app or apps you're using when you experience this issue? Does it occur when using the Notes app on your iPad?
Have you had an opportunity to force close the app before testing again? Here's a guide to help with an app that is unresponsive:
How to force an app to close on your iPhone, iPad, or iPod touch
If the issue persists, let us know the version of iPadOS installed on your device. This can be found under Settings > General > About.
If it's not running the latest available version, we can recommend the steps in this guide to back up your data and apply the update:
Update your iPhone, iPad, or iPod touch
Updating is a great step to resolve unexpected behavior. Ensure that any affected apps are also updated in the App Store. Here's how:
Update apps or use automatic downloads
We're here for you if you've got any questions.
Have a great day.