The Apple Pencil 2 does not require a Bluetooth connection, it uses a magnetic charging method. However, the Apple Pencil 1 requires a Bluetooth connection and can only be paired to an iPad that supports Bluetooth connectivity.
It should be noted that although the Apple Pencil 2 does not require a Bluetooth connection, it still needs to be charged. If your Apple Pencil 2 is out of power, you'll need to plug it into your iPad's Lightning port or USB-C port to charge it. At the same time, the Apple Pencil 2 also supports wireless charging, if your iPad supports wireless charging, you can put the Apple Pencil 2 on the charging pad that supports wireless charging.
If necessary, the Apple Pen can be used through Bluetooth connection.