Apple Pencil specifically not working with my ipad

So I have an Apple Pencil that I’ve used for a few months and I tried to draw with it as usual, but saw it wasn’t connected, I tried connecting it but it wouldn’t so I charged it for like an hour and tried again; still not connecting. So I was wondering if the problem was the pencil broke, so I tried connecting it to my brothers iPad and it worked. Then I thought it must be a Bluetooth problem but I tried to connect my headphones and a few other devices and they all worked. I don’t understand what the problem is.