The difference between the two measurements is 1 more pencil and 1 more crayon for 4.2 more inches.
So the length of 4 pencils and 4 crayons is 4(4.2) = 16.8 inches.
Then comparing that to 5 pencils and 4 crayons with a total lengths of 19.6 inches, we find the length of 1 pencil is 19.6-16.8 = 2.8 inches.
And then the length of one crayon is 4.2-2.8 = 1.4 inches.
That common sense solution is equivalent to one of many possible solutions using formal algebra:
(1) 5p+4c = 19.6 (given)
(2) 6p+5c = 23.8 (given)
(3) p+c = 4.2 (2)-(1)
(4) 4p+4c = 16.8 4*(3)
(5) p = 2.8 (1)-(4)
(6) c = 1.4 (3)-(5)