Open the tablet Settings, tap Bluetooth, turn on Bluetooth,
Attach the Apple Pencil to the magnetic connector in the center of the top of the iPad (the side where the volume button is) to start charging.
charge
The Apple Pencil (2nd generation) charges in a different way than the Apple Pencil (1st generation). If you're not sure which Apple Pencil you have, check out this page.
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If you have Apple Pencil (Generation 2)
Attach the Apple Pencil to the magnetic contact on the long side of the iPad.
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Magnetic contact on the iPad
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If you don't see a moment of charging near the top of the screen, make sure Bluetooth is turned on.
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The iPad shows the charging status of Pencil
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If you have Apple Pencil (1st generation)
Insert the Apple Pencil into the lightning port on your iPad. You can also charge the Apple Pencil via a USB power adapter using the Apple Pencil charging adapter that came with the Apple Pencil.