Apple Pencil

The Apple Pencil does not replicate all the gestures that can be performed with a finger… 

The up-swipe from the bottom edge of the screen - to reveal the Dock and/or the Task Switcher - cannot be performed with the Pencil.

• Learn how to use your Apple Pencil with your iPad.
• Use Markup to add drawings, text, and shapes with your iPad and Apple Pencil.
• Learn how to create an instant note from the Lock screen or pick up where you left off on your last note.

The iPad User Guide is a rich source of frequently overlooked information about your iPad and iPadOS. The Guide is available both online using a web browser (such as Safari), or as an Apple Books download:

iPad User Guide - Apple Support

https://books.apple.com/book/id1567104892

The Tips App, installed by default on all new models of iPad, provides a brief introduction to iPad. In case you missed it, here is a link to the Tips App:

https://apps.apple.com/gb/app/tips/id1069509450

You cannot.

The Apple Pencil is limited to only certain finger gesture operations.

Some finger gestures are NOT supported by the Apple Pencil.

Sorry.

You can send unacknowledged feedback on this issue to Apple here.

Tap the link below.

Feedback - iPad - Apple