You photo would suggest that either:
a) you are using a third-party alternative to a genuine Apple Pencil
b) the replaceable plastic Pencil tip is worn or damaged - exposing the metal transducer element normally fully covered by the Pencil tip. A worn or damaged Pencil tip can cause damage to your iPad screen; a worn Pencil tip should be replaced as soon as wear becomes evident.
In either case, you might expect that the Pencil may not be able to properly interact with the host iPad's screen.
For information, replacement Pencil tips are available from Apple:
- Apple Pencil Tips - 4 pack
https://store.apple.com/uk/xc/product/MLUN2ZM/A