Is there an Apple Pencil that works with iPad mini 2?

Is there an Apple Pencil that works with iPad mini 2? I recently bought the Apple Pencil 1st Generation because it had compatibility with iPad Mini (not realizing that there were specific for which ipad mini it was referring to at first). Now, it's not pairing. Is there a way to make it pair? If not, is there an Apple Pencil that *is* compatible with the iPad Mini 2? The stylus I have is very sloppy when using it on this ipad. Thank you!