/ic/ - Artwork/Critique

I can never get a clean sketch for the life of me, and it gets bad to the point I lose myself in all the lines, not to mention all the time I waste trying to erase the old lines from the new ones. Pic related is a pretty good example of what ends up happening, where I get lines that look really scratchy because they're basically tens of lines crossed over one another, and kinda erased into shape. It's a big mess, and it has been a big problem for me.

I wanted to ask what's the better way, from a /beg/ standpoint, of going about sketching. Is it just a matter of sketching in "steps", where you basically do blocking first, then erase, then do a more detailed pass, and so on? Isn't this too much work for busy scenes? What about people who do it on paper? Is it just a matter of getting everything sort of correct on my first try (not going to happen any time soon, hah)? And on top of that, how do pros do it?

Honestly, I just see everyone sketching and just putting everything in the right place first time, and I feel like a fucking neanderthal, because I need to draw a form like 5 times before I get what I want from my head. It feels like one of those things that should be as natural as breathing, and yet I just simply can't.