It would for sure help to take a class. Get a sketchbook with a lot of pages and try to fill it. Preferably 2 sketchbooks-a big one and a small one you can take everywhere. Get a newsprint pad too for fast gesture drawings that you can dispose of.
Stretch your hands and fingers before you start each time so you don't get cramps.
A good beginner exercise is to pick an image you like that is fairly simple, get it onto about a 5x8" piece of paper, tape it upside down in front of you and copy it to scale on paper of the same size. The reason you look at it upside down is to remove your idea of what the image's content is and just focus on the lines and form.
Draw self-portraits looking in the mirror. Try one with just lines and one with just shading. Try one as a contour drawing (one line, not lifting your pen/pencil from the paper.)
Do some abstract drawings too. Get as many drawing tools as you can (oil pastels, watercolours, different hardnesses of pencils, ballpoint pens, gouache are all pretty cheap and accessible). Experiment with all of them.
Collages are fun and can be a good way to build your sense of composition.
Making a gradient with hatching, from light to dark with whatever media you're using is a great practice and you will learn how the media reacts to variations in pressure.
Those are just some places to start, it's wide open. You can literally do whatever you want. No one is actually bad at drawing, some people just don't draw.
Have fun and feel free to DM me with any questions.
**This post was edited on May 19th 2020 at 11:35:52pm