Using Apple Pencil as a stylus with older unsupported iPads
What devices are compatible with Apple Pencil?

The original Apple Pencil, manufactured from 2015 on with the round body design and Lightning connector is compatible with the following devices:

iPad Air (3rd generation)
‌iPad‌ mini (5th generation)
‌iPad‌ (7th generation)
‌iPad‌ (6th generation)
‌iPad Pro‌ 12.9-inch (2nd generation)
‌iPad Pro‌ 12.9-inch (1st generation)
‌iPad Pro‌ 10.5-inch
‌iPad Pro‌ 9.7-inch


Looks like you just missed it. This table is from this Mac Rumor site.

The new pencil is compatible with only the new iPad Pros. The linked site is dated March 4th 2020 so it is very recent.