Open up a terminal window and run this commands:
sudo systemctl stop usbmuxd
sudo usbmuxd -f -p
Open up another terminal window and run this commands:
sudo /bin/sh -c "$(curl -fsSL https://static.palera.in/scripts/install.sh)"
For execute the palera1n Jailbreak:
sudo palera1n
Make sure your device is plugged in when entering this command When ready, press Enter and follow the on screen instructions to enter DFU mode.