Hi Alicebc14,
If you haven't done so yet, restart your iPad. Although simple, this step can help correct some unexpected issues. It's also a good idea to make sure your iPad is running the latest iPadOS version, since this can help with overall performance: Update your iPhone or iPad
If an update is available, be sure to create a backup before installing it.
1. Back up your device using iCloud or your computer.
2. Plug your device into power and connect to the internet with Wi-Fi.
3. Go to Settings > General, then tap Software Update.
4. If you see more than one software update option available, choose the one that you want to install.
5. Tap Install Now. If you see Download and Install instead, tap it to download the update, enter your passcode, then tap Install Now. If you don't know your passcode, learn what to do.
Some additional steps that may be helpful:
- Make sure your Apple Pencil is fully charged
Charge your Apple Pencil and check the battery
- Unpair and re-pair your Apple Pencil
Pair Apple Pencil with your iPad
- Test to see if the issue persists after you remove any cases or other accessories. This step will help isolate the issue.
- Make sure the Apple Pencil tip is tightened, and if possible, test with another tip. This will tell you if the behavior is related to the tip.
If the issue continues, reach out to Apple Support directly so they can look into this with you further. They can be contacted here: Get Support or by calling the most applicable phone number from this list: Contact Apple for support and service.
Regards.