How do I know if my Apple Pencil is charging
how do I know if my Apple Pencil is charging when plugged into my iPad
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You can see the current state of charge - and an indication that the Pencil is charging, from iPad Settings:
Settings > Apple Pencil
The Lightning Bolt on the battery symbol only appears when the Pencil is connected and charging.
You can also see both the Pencil's battery and charging status in the Battery Widget - if installed on your iPad Home Screen or within the Today View: