Apple Pencil 1stGen won't charge or connect to iPad
Apple Pencil 1st gen all of a sudden will not charge. trying to verify charge and connect to use with my 10th gen ipad.
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FYI ... Per Apple, you will need the USB-C to Apple Pencil Adapter to pair and charge the 1st generation Apple Pencil with iPad (10th generation).
Assuming that is the case already, the other issue is the state of the pencil's battery. For example, if per chance, you do not use this pencil often, or it is left with either a low or depleted charge for an extended period of time (think months), the pencil's lithium battery will lose its ability to be charged. This may be the case here.
Ref: How to check Apple Pencil battery level - 9TO5Mac