Why can’t I get my apple pencil to work on my 5 th generation mini iPad

Your device is a Apple iPad 5th generation, not a iPad mini.

As you can see below, the reason the pencil does not work is because it's not compatible for your device

Apple Pencil compatibility - Apple Support

Apple Pencil (2nd generation)

You can use Apple Pencil (2nd generation) with these iPad models: 

• iPad Air (4th generation)
• iPad Pro 12.9-inch (3rd generation) and later
• iPad Pro 11-inch (1st generation) and later

Apple Pencil (1st generation)

You can use Apple Pencil (1st generation) with these iPad models:

• iPad (8th generation)
• iPad mini (5th generation)
• iPad (7th generation)
• iPad (6th generation)
• iPad Air (3rd generation)
• iPad Pro 12.9-inch (1st or 2nd generation)
• iPad Pro 10.5-inch
• iPad Pro 9.7-inch

Your iPad mini does not support Apple Pencil.

As your iPad mini harks from 2017, then you don’t have an iPad mini5. As such, you will have an an iPad mini4 (or earlier) which totally lacks the screen hardware with which the Apple Pencil interacts.

Not sure which iPad you have? Identify your iPad model.

Is this a 2017 5th gen iPad OR a 2019 5th gen iPad Mini?

You are still confused.

There is NO 2017 iPad Mini.

You will need to gives us the “M” model number of your iPad.

The “M” model number can be found in the Settings app, under General, About.

There was no iPad mini released in 2017.

Can you tell us the model number, as you seem unsure on what device you own