My brand new iPad and Apple Pencil won’t connect…

I just got a new iPad (iPad Air) and Apple Pencil (2nd generation) and every time I try to pair the two nothing happens. When I connect the Pencil to magnetic side of the iPad, usually something should pop up asking to pair the two devices, but nothing does. I have tried leaving the pencil on the iPad charging overnight, resetting the iPad, resetting the iPads network, updating the iPads software, and turning off and on Bluetooth multiple times. I really don’t want to have to make a trip to the Apple Store, so if anyone knows how to help I would really appreciate it!!!! Thanks