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If you have a mechanical pencil, take off the top part (where you usually put in the lead) and put your note in there. Then put the top back on and pass it to your friend. It will seem like you were just lending them a pencil.
Alternatively, this also works with pens with caps and removable grips. Just follow the same steps as for mechanical pencils, but keep hold of the removed grip, and pass the pen holding the cap so as to cover the note.
Write your note on a small piece of paper.

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Roll it up around your pencil.

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Finally, drop the pencil if your friend sits behind or near you and ask for them to get it for you.
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