Apple Service - iPad (10th generation) request USB-C to Apple Pencil Adapter Pair

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.

When the Pair button appears, tap it. You can use your Apple Pencil after it's paired and you unplug it from the USB-C to Apple Pencil Adapter.

Your Apple Pencil and iPad stay paired until you restart your iPad or pair your Apple Pencil with another iPad. When you’re ready to use your Apple Pencil again, use the same steps to pair it with your iPad.