There is a pen,two pencils and three books on the table.
Or:
There are two pencils,a pen and three books on the table.
注意：there 后面加 is 或 are 只与跟他直接相连的名词的可数或不可数、数量有关。
There is a pen .two pencils and three books on the table.
There is a pen ，two pencils and three books on the table.
就近原则、呦~~
There is a pen,two pencils and three books.
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