If you want to manually pay an invoice for a customer that is signed up with a credit card or ACH you have some options:
You can follow the steps below to manually pay an invoice for a customer signed up with credit card or ACH:
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If you want to pay online one invoice for the customer click the "Charge" button and then the "Confirm" button. This will process the payment using the saved payment method (credit card or ACH).
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If you want to pay more than one invoice at the same time you can use the "Pay" button, then select more invoices -> click the "Pay invoice by credit card" and then you select the stored payment method. I've attached a screenshot showing the next page from your screenshot where you can select the stored ACH details for payment.
You can do this for any customer that is signed up to Pencil and is Status = Credit Form Approved (or Status = Manual Charge Authorized as well).