Apple Pencil not connecting to ipad

My Apple Pencil is no longer pairing with my iPad even if it is plugged in. It will have the pop up appear on screen that the pencil is ready to pair for a split second before it disappears, and it doesn’t work if you do happen to press the button in time. I think it’s a physical issue with the port or pencil, but neither look damaged at all. Is there any other way to pair them??