It keeps telling me my Apple Pencil is taking to long to pair

Hello,

If Apple Pencil’s battery sits depleted for an extended amount of time then it will essentially ruin the battery preventing it from ever holding a charge which makes the Apple Pencil useless. Apple Pencil has a 1 year warranty (when purchased from Apple) which means that Apple will most likely replace it if the battery has failed.

Please refer to the following Apple Support document on how to troubleshoot Apple Pencil.

Use Apple Pencil with your iPad or iPad Pro - Apple Support

Contact AppleCare

Prior to this issue, when was the last time your Apple Pencil was charged up and used?