Having experienced the same issue with two Pencils, one being new, your iPad Pro may have fault. Have you tried pairing/charging your Pencils with another compatible iPad?
These support pages may be helpful with pairing 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
Here is one of the better troubleshooting guides:
https://appletoolbox.com/apple-pencil-not-working-heres-our-troubleshooting-guide/
If you continue to experience difficulties, you would be best advised to visit the Genius Bar at your local Apple Store or Apple Authorised Service Provider (AASP) - where the technicians will be able to test and assess your iPad and Pencil(s). If a fault is confirmed, you will be in the best possible place to explore your available options:
Genius Bar Reservation and Apple Support Options - Apple