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A really good exercise is "the bean", from Proko.

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It's a fun way to see the human body as a simplified 3D form.

In my experience, after a couple of years of studying gesture, the human figure and perspective, it suddenly "clicked". Understanding form it's like learning to read, one step at a time. Patience is key.

Follow the advice of Aunt Herbert. I personally went the same route: Proko figure drawing course (the free one) and Drawabox.

Just be patient and practice gesture every day. With time you'll start to enjoy it.