How to remove Apple Pencil?

From iPad settings:

Settings > Bluetooth > [My Devices] Apple Pencil - tap the blue ℹ️ icon - then tap Forget This Device

If you can't pair Apple Pencil with your iPad

Learn what to do if you can't pair your Apple Pencil.

Before you begin

• Update your iPad to the latest software.
• Make sure that you have the Apple Pencil model that works with your iPad.
• You might need to charge your Apple Pencil before you can use it.

If you're pairing Apple Pencil (1st Generation) with iPad (10th generation), make sure that you have the required USB-C to Apple Pencil Adapter and a compatible cable, such as the USB-C Charge Cable.

Pair your Apple Pencil

• Apple Pencil Pro
• Apple Pencil (USB-C)
• Apple Pencil (2nd generation)
• Apple Pencil (1st generation)

If your Apple Pencil won't pair with your iPad

1. Connect your Apple Pencil to your iPad:

• • With Apple Pencil Pro or Apple Pencil (2nd generation): Center your Apple Pencil on the magnetic connector.
  • With Apple Pencil (1st generation) and iPad (6th through 9th generations): Remove the cap and plug your Apple Pencil into the Lightning connector on your iPad. 
  • With Apple Pencil (1st generation) and iPad (10th generation): Remove the cap and plug your Apple Pencil and a USB-C cable into the USB-C to Apple Pencil Adapter. Plug the other end of the cable into your iPad.

1. Restart your iPad, then try to pair again.
2. Go to Settings > Bluetooth and make sure that Bluetooth is turned on.
3. On the same screen, find your Apple Pencil under My Devices. If you find it, tap info. Then tap Forget this Device.
4. Connect your Apple Pencil into your iPad and tap the Pair button when it appears after a few seconds. 
5. If the Pair button doesn't appear, wait for one minute while your Apple Pencil charges. Then try connecting your Apple Pencil again and wait until the Pair button appears.
6. If your Apple Pencil Pro or Apple Pencil (2nd generation) still does not pair, remove any cases or covers from the iPad, then try to pair again. 
7. If the Pair button still doesn't appear, contact Apple Support.

Learn more

• Learn how to use your Apple Pencil with your iPad.
• Use Markup to add drawings, text, and shapes with your iPad and Apple Pencil.
• Learn how to create an instant note from the Lock Screen or pick up where you left off on your last note.

Delete it from where?

You can just get a new Apple Pencil and pair it with your iPad.