Practice. This is quite literally the word you'll hear all the time.
If you're interested in drawing faces, bodies, figures, practice them. If you're interested in drawing backgrounds, fauna, objects, practice them.
Do it on a daily basis, take an hour (or more) out of each day to practice.
I'm currently taking an art class. My first homework? 5 drawing a day, anything (I'm suppose to have 75 done before the end of the class). The next week, I started getting in contour drawings, blind/partially-blind, cross, gesture, etc. After that, we got into values and then perspective. Now we're hitting 3/4th perspective, drawing figure heads and whatnot. (this is 10-weeks in)
This is just what I'm doing for a basic art drawing class. You don't have to follow what I do, I'm just giving an example for ideas. You're going to have to just start drawing and continue to do it. They may not look great at first, and it may take quite some time before you get to the place you're happy with, but if you stick to it you outta get there.
You can also try getting art books, going to art classes, finding art communities online/offline and trying other ideas. It doesn't hurt to do a little research.