Stand with your strongest side closest to the pole. Place your strong arm high on the pole. Walk around the pole. As you walk, swivel on your inside foot as you place your weak hand on the pole just above head height. Slightly jump off the ground and use your arms to pull your body up. Keep your body off the floor in a straight line. Hold this pose.
The pencil spin is best on a spinning pole as your momentum from jumping off the group will keep you spinning.