In general, if your Apple Pencil supports a touch screen, you can return to your desktop with one click of the following:
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1. Use Apple Pencil to gently touch the \"Home\" button in the upper left or upper right corner of the iPad screen to quickly return to the home screen.
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2. In iPad Settings, turn on Accessibility, then select Pointer Control to enable the \"pointer Position to trigger Action\" option. This way, when you place the Apple Pencil at the top of the screen, it automatically triggers the \"Home\" button and returns to the home screen.
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Hope this helps you!
Apple Pencil doesn't have a one-click return to the desktop, it's just an electronic pen for writing and drawing on the iPad. To return to the desktop, press the Home button at the bottom of the iPad screen or swipe the app up using a multi-finger gesture.