Your Apple Pencil 2 doesn’t need daily recharging unless you use it a LOT.
But when it does, make sure that Bluetooth is turned on for your iPad. Then attach your Apple Pencil to the magnetic connector at the center of the right side of your iPad.
To see how much charge your Apple Pencil has left, check the Widgets view on your iPad.
(This how-to is based on my experiences and info on Apple’s support pages — where the images sometimes come from.)