Hi Kamlesh,
I think you can make use of business rules in ServiceNow. Create a rule to run when a new incident is created. Action must be to the call Orchestrator API to start your UiPath job.
Though i have not tried business rules, i think it should work in your case.
Business Rules
Connector for ServiceNow -
https://go.uipath.com/component/connector-for-servicenow