Will my 10th generation iPad connect to a second generation apple pencil?

No.

The 10th generation iPad is compatible with the Apple Pencil (1st generation) (with an adapter) and with the Apple Pencil (USB-C). See: Apple Pencil compatibility - Apple Support

Sorry, no.

For the complete compatibility list, please see: Apple Pencil compatibility - Apple Support (CA)

They are not compatible no.

The 10th Generation iPad can pair with a First Generation Apple Pencil, or the new USB-C Apple Pencil.

click here ➜ Apple Pencil compatibility - Apple Support