How to Customize Apple Pencil Gestures on iPad

Learn how to configure double-tap gestures for Apple Pencil Pro and Apple Pencil (2nd generation) to streamline your iPad workflow.

1. Open Pencil settings. Ensure your Apple Pencil is magnetically attached to your iPad. Open the Settings app and select the Apple Pencil tab from the left-hand sidebar.
2. Select double-tap action. Locate the Double Tap section within the Apple Pencil menu. Review the available options: Switch between current tool and eraser, Switch between current tool and last used, Show color palette, or Off.
3. Assign your preference. Tap your desired action from the list. A checkmark will appear next to the selected command, indicating the preference is now saved.
4. Test the gesture. Open a drawing application such as Freeform or Procreate. Double-tap the flat surface of your Apple Pencil near the tip to verify the command executes as configured.
5. Refine gesture sensitivity. If the gesture triggers unintentionally, navigate back to the Apple Pencil menu. Adjust the double-tap timing requirements under the Accessibility or dedicated Pencil settings if provided by your specific iPadOS version.