Whether you can charge an Apple Pencil with your iPad depends on the Apple Pencil model. If you have a 1st generation Apple Pencil, you can charge it by plugging it directly into the iPad's Lightning port or by using the included Lightning adapter. If you have a 2nd generation Apple Pencil, you can charge it wirelessly by magnetically attaching it to the side of a compatible iPad. As soon as it is connected, it begins charging automatically, and you can see the battery level in the iPad's Batteries widget.