Apple Pencils "go to sleep" when not being used, which makes it harder for our app to pick up its Bluetooth signal. When your pencil is "awake" our app is capable of finding it. Try shaking clothes, moving a couch, move a desk to wake up the pencil. Once the pencil is moved it will wake up. Then look for your Pencil in the "Seen Devices" screen to start tracking it.
