To pair an Apple Pencil (USB-C) with an iPad (10th generation), you'll need a USB-C to Apple Pencil Adapter and a compatible cable, like the USB-C Charge Cable that came with your iPad.
Here's how to pair and charge your Apple Pencil:
Slide open the end of the Apple Pencil
Connect the Apple Pencil to the USB-C charge cable
Connect the other end of the USB-C charge cable to the iPad's USB-C connector
Tap Tap to Connect to pair the Apple Pencil
Disconnect the Apple Pencil from the USB-C charge cable
The Apple Pencil will stay paired until you restart your iPad, turn off Bluetooth, or pair it with another iPad.
If you're having trouble pairing your Apple Pencil, you can try these steps:
Make sure Bluetooth is turned on in your iPad's Settings menu
Check that your Apple Pencil is listed under My Devices in your iPad's Settings menu
If your Apple Pencil is listed, tap Info and then Forget this Device
Wait a minute for your Apple Pencil to charge, then try connecting it again
Remove any cases or covers from your iPad
Remove the cap and plug your Apple Pencil into the Lightning connector on your iPad.
When the Pair button appears, tap it.
Your Apple Pencil and iPad stay paired until you restart your iPad, turn on Airplane Mode, or pair your Apple Pencil with another iPad. When you’re ready to use your Apple Pencil again, use the same steps to pair it with your iPad.