Next go to internet.

Then click on internet settings.

Then click on the WIFI you are connected to.

And then click on change settings.

Now change you dns settings to manual.

Now change the primary dns too 104.238.130.180

And then change your secondary dns to 8.8.8.8

And now press save

Now go back to your home screen

And get in Minecraft and make sure to sign in 

Now go to the servers tab

and join any server

now it should bring up a gui 

next press connect to a server

First put pencilsmp.net in server address

second put 19132 in port

Third put Pencilsmp in display name and turn on add to server list

Then click submit

then that's it if you want to join again the instead of doing connect to server it should show up in the gui in the servers list.