Typically to remove the 1st gen Apple Pencil's tip, you would gently squeeze the tip and turn it counterclockwise to unscrew it. You would then pull out the tip. Of course, if part of the tip is still inside the Pencil, this may be very difficult to do, because there would be little or nothing to work with to try unscrewing it. If you can provide a close-up image of the damage, we may be able to better assist you with this.
If the remaining tip is well inside the Pencil, you may find that using a jeweler's or dental pair of tweezers may work ... but the chance that you may further damage the Pencil will be something to take into consideration. AFAIK, Apple does not repair their Pencils, so it may be of no value to take it to your local Apple Store. However, you can certainly contact Apple Support directly for advice. To do so, simply select the "Support" link on the lower left-hand side of this forum's web site.