Doodling with a pencil, without any plan or thought and without lifting it off the paper, will relax your mind and loosen your muscles. Waltz the pencil around on the paper. When you're relaxed, switch hands and hold the pencil still while you move the paper around underneath it. You are now free motion drawing! :lol:
You're not trying to quilt the Mona Lisa after all, just lines and shapes. People learn to draw all the time...with pencils, paints or sewing machines. For all of them, it takes practice.