Well fuck I had 2 paragraphs written and then I hit the backspace by accident.
The best way to learn how to draw is to draw for yourself. Go out and buy a sketchbook in the size and type of paper you want and draw in it everyday. Don't worry about what it looks like just doodle in it everyday and make it fun and interesting for yourself. The sketchbook isn't just a place for visual making either, put words, write poetry or lyrics, notes to yourself whatever you can think of. I often describe places of where I am at when I'm drawing because I often draw at my local coffee shop or at chipolte. Sometimes I draw people at chipolte, it really just depends on what you want to do and how you want to go about it.
Now if you want to draw anatomically correct rather than from imagination it requires a much more formal education and I would recommend getting an anatomy book and practicing how to draw the body a couple of times a week and drawing from real life everyday. You should only choose this route if you're really becoming a real artist because drawing with anatomical precision is something that can take years to tackle (3 to 5ish), but is well worth the time it takes. I can post some anatomical drawings I have found online that have helped me if you'd like.
All in all teaching you how to draw is something you have to do on your own, I can help guide you in the process, but it would be impossible for me to teach you the techniques I have learned (they come from experience). The best thing that you can do is post your work and see how others respond to it. It would actually be cool if you posted some of you work because I could respond to it in a constructive way that would help you out as an artist. I'm already teaching my brother and his friend how to do some art this summer so maybe some of those lessons I could post here.