My Apple Pencil (2nd Gen) won't pair with my iPad Mini (Gen 6)?

If the same pencil works with other devices, I would assume there may be an issue with the magnetic connector on the iPad then.

You may want to set up an appointment at a Genius bar to get it looked at.

click here ➜ iPad Repair & Service - Apple Support

Let's first verify what you have.

On the iPad what is the model number under Settings ➜ General ➜ About?

Does the pencil have a silver ring at the top and a removable cap that exposes a lighting connector?

Or is it a solid piece, that just says Pencil?

How are you trying to pair it exactly? Where are you placing the pencil when you try to pair it?

Starting at the beginning - first, compatibility. Verify that your Apple Pencil is compatible with your iPad:

Apple Pencil compatibility - Apple Support

Assuming that you have an Apple Pencil that is compatible with your iPad, this support page may be helpful with pairing and use of the Pencil with your iPad:

Connect Apple Pencil with your iPad - Apple Support

If you continue to experience difficulties, here is one of the better troubleshooting guides:

https://appletoolbox.com/apple-pencil-not-working-heres-our-troubleshooting-guide/

The model number does refer to a 6th Generation iPad mini, and the Pencil by your description does appear to be a 6th generation Apple Pencil.

So what exactly happens when you place the pencil on the magnetic connector.

It should show a pencil image, and the pencil should then appear in the Battery widget if you have that enabled.

If you open the Notes app, can you start writing with there pencil in a new note?