Drawing in procreate

The tags appended to your post suggest that you have an iPad mini1 with iOS9 installed. If this is the case, then your iPad model does not support Apple Pencil.

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

Here is Apple’s definitive compatibility list for Apple Pencil and iPad:

Apple Pencil compatibility - Apple Support

If you have an iPad model that does support Apple Pencil - and have the correct Pencil for your iPad - this support page may be helpful with pairing and use of the Pencil with your iPad:

Connect Apple Pencil with your iPad - 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.

The tiny internal Li-ion battery is susceptible to permanent/irreversible damage through being left discharged for long periods. Even some “new” pencils can exhibit signs of failure out-of-the-box if they are “old stock”. 

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.

If the Pencil Battery has failed, the only remedy is to replace the Pencil. If the battery has failed and your pencil is within its one-year warranty, you should look to having it replaced by your retailer or at an Apple Store.

Some reports suggest that gentle warming of the Pencil (such as a hot water radiator) prior to attempting charging of the Pencil can resurrect a Pencil battery.

A little hard to help/advise you when you provide little to NO useful information about your iPad or which version of the Pencil you are using.

Here are my questions to you.

Can you, please, confirm what year and model iPad do you have/own?

The “A” model number can be found on the aluminium back of your iPad, in very small print, right under the larger bold print “iPad” on the back of the iPad.

What iOS/iPadOS version is this iPad, currently, running?

What is the rated, internal data storage space/capacity of your iPad model and how much of this free, internal data storage capacity is left inside of your iPad model?

All of that additional info can be found in the Settings app, General settings panel, About.

Which version of Pencil?

Please try to make an attempt to answer all questions asked.

Thank You.