Apple pencil

Yes.

It is essential that if you have an Apple Pencil that you charge it regularly - whether used or not - so as to protect the battery from deep-discharge. Do not allow a pencil to remain in low-charge state for any period of time - as the internal battery will fail, rendering the Pencil useless. Setting aside an unused Pencil, for extended periods, is a recipe for premature death of the Pencil battery.

An Apple Pencil, charging directly from the iPad, should be fully charged from a low-charge state within 15-20 minutes.

If the pencil is completely unused and undisturbed (any movement will cause the pencil to “wake up”), from a full charge, the Pencil should only require a top-up charge every few days. If your Pencil is otherwise regularly moved/disturbed, a charge every few days would be a wise investment in longevity of your Pencil.