Best way to learn how to draw, in order of preference:

1. Take a drawing class. Don't worry about being bad. Everyone starts somewhere. If you're really concerned about it, then take a basic class where everyone is at the same level.

2. Take a drawing class.

3. Pick up a book or two. "Drawing on the Right Side of the Brain" and "The Vilppu Drawing Manual" are two very good ones.

4. Take a drawing class.