Apple Pencil doesn’t fully charge
My iPad Pro is fully charged but my 2nd generation pencil isn’t
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These support pages may be helpful with pairing, charging and use of the Pencil with your iPad:
Connect Apple Pencil with your iPad - Apple Support
Charge your Apple Pencil and check the battery – Apple Support
If you continue to experience difficulties, here is one of the better troubleshooting guides:
https://appletoolbox.com/apple-pencil-not-working-heres-our-troubleshooting-guide/
Be aware that if your Pencil has been set-aside for an extended period, unused and uncharged, the Pencil battery may now be irretrievably damaged through deep discharge. In common with all Li-ion batteries, they must always have some level of charge.
If your Pencil has failed - and is within its one-year manufacturers warranty, Apple will likely replace the Pencil without quibble.