The second generation Apple Pencil is not compatible - and cannot be used - with iPad10. The iPad10 is only compatible with the first generation Apple Pencil.
Here is Apple’s definitive compatibility list for Apple Pencil and iPad:
Apple Pencil compatibility - Apple Support
The first and second generation Pencil use an entirely different pairing and charging interface.
The second generation Pencil can only be used with iPad models that have the magnetic/inductive dock that is exclusively designed for the Pencil. Charging is controlled via the iPad magnetic dock.
The first generation Apple Pencil uses the physical Lightning port of the Pencil and host iPad for both pairing and charging the first generation Pencil. The first generation Pencil can also be charged using an inline charging adapter and the iPad’s Power Adapter. This pencil can only be used with compatible iPad models that have a Lightning connector; with the sole exception of the new iPad10, requiring a special adapter, iPad models that feature a USB-C port lack any means by which to pair with a first generation Pencil.
In summary, the Apple Pencil models are not interchangeable - and can only be used with the iPad that has appropriate internal hardware.
To pair a first generation Apple Pencil with the iPad10, you must use a special Apple USB-C to Lightning adapter:
- USB-C to Apple Pencil Adapter
https://store.apple.com/uk/xc/product/MQLU3ZM/A
While this special adapter is included in the box of new first generation Apple Pencils, some older stock Pencils may not have this adapter in the box.
The first generation Pencil is paired using the wired connection between the iPad and Pencil.