I don't know if this will work for you but, try making a few quick doodles with a marker. It can be either the small felt tip one or the large chisel tipped one. As you can see where this is going, obviously you can't erase marker lines, so the lines you'll put down are there are on the paper are there whether you wanted them there or not. Basically this is just helping you live a little with the lines you put down, and not have you erase every little mistake you make. (Besides, some people make several versions of a drawing, refining the drawing little by little until you get the version of the complete product.)
Ah, and don't think too much about what you're drawing. It's supposed to be fun and derpy. :3