How can I learn to draw with a pencil?

Frist draw something simple..Like a flower or something then if you want to draw something like a favorite character then start using your mind.(:
 
I wanna be able to draw the pictures in my mind, but I have no idea where to begin.. Do I begin by doodling till I create a masterpiece? Or should I copy pictures and drawings from other people until I get the flow? Or is there a completely different approach to learning how to draw? help pls ^_^
 
Frist draw something simple..Like a flower or something then if you want to draw something like a favorite character then start using your mind.(:
 
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