Your Apple Pencil 2 for use with the 2018 and later iPad Pro doesn’t need daily recharging unless you use it a LOT.
But when it does, make sure that Bluetooth is turned on for your Apple tablet. Then attach your Apple Pencil to the magnetic connector at the center of the right side of your iPad.
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To see how much charge your Apple Pencil has left, check the Widgets view on your iPad.
Widgets show you information from your favorite apps, like News and Stocks. You can see your widgets in the Today View. Just swipe right over the Home screen, Lock screen, or while you’re looking at your notifications.(This how-to is based on my experiences and info on Apple’s support pages — where the images sometimes come from.)