jmc

For each person to have at least one pencil, assign one pencil to each of the three friends so that you have $3$ left. In partitioning the remaining $3$ pencils into $3$ distinct groups, use Ball-and-urn to find the number of possibilities is $\left(\genfrac{}{}{0ex}{}{3+3-1}{3-1}\right)=\left(\genfrac{}{}{0ex}{}{5}{2}\right)=\boxed{10}$.