Another element that helped me draw with lots of confidence and ease last night is practice. I've been drawing a lot lately, 2-3 hours daily, still lifes during the week, and Saturday morning portrait drawings. And before I went to last night's figure drawing session, I sat down to draw a still life for 2 hours, so I had a good warm up before the evening figure drawing session.
I strongly believe practicing my drawing daily will continue to improve my skill. It takes time to train the brain to translate what it sees to a hand drawing created on paper.
CLICK IMAGE TO ENLARGE, GRAPHITE ON PAPER 14" x 17"