Can we paint our animation if we use the pencil ?

I noted that we always use the brush for the line of our character…And then, that way, we can fill it with a color thanks to the paint tool…But here is my question :

Can we fill our character with color if we worked our lines with the pencil and not the brush ?
I think the response is “no” because I have failed in trying but, maybe I forget a step ?
Or the pencil is only a tool used to change the line itself…

So, with that question, can someone explain to me the differences between the pencil and the brush in their different ways to be used ?

You should be able to fill drawings when the pencil is used for lines so long as the lines are without gaps.

There are several differences but one of the main difference between a brush line and a pencil line is in the structure of their composition.