Can you use the apple pencil on an iPhone 5s?

My grandmother is about to get an iPhone 5s and it would be easier for her to use if she could use the pencil with the phone. Is this possible?

Apple Pencil (1st Generation)

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

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