What i do is i warm up with gestures first. I do atleast 5 to 20 gestures just to get confidence. Then i start with the actual session. Learning anatomy also helps greatly. A good start would be to begin with just the torso which focus in the pectoral muscles, abdomen, back muscles and other muscles relating to the other parts of the body. Study the skeleton in its basic element and see how the human figure moves in relation to it. Never rush in drawing a figure. it is ok if you can't finish the drawing. The important thing is understanding what you are drawing. Look up Chris Legaspi's training videos. Helped me a lot.
Remember, gestures only capture the action of the figure. A little understanding of anatomy helps you in finding the right or relative form. here's a video to help you.
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enjoy! hope i helped!