Not an art teacher, but I regularly do freehand technical drawing as part of my job. And have had some pretty talented teachers try to help me with drawing/painting etc. Some tips from what I've learned from those infinitely better than me:
Do lots of free hand drawing on paper. Lots, and lots. Leave the drawings to one side for a bit then come back to look at it with fresh eyes and think about what you are pleased with, then think about why. Also don't be afraid to draw over something, ruin something, and stop before you are happy. Every now and again something that brings you joy will come out of it.
Another excersize that I liked was doing several studies of the same subject in a very quick time frame 2min or 5min. Maybe do 5 very fast drawings of the same object. It limbers you up and stops you being worried about doing things wrong.
Try different scales every now and again. Blow something up or shrink it down. Draw something on a big bit of paper sometimes and really free up you arm for large gestural movements.
The key thing is to enjoy it, because otherwise you won't keep going. Sometimes to clear my head I just doodle wierd patterns and try different ways of making a mark.
Long reply this, hope it's not boring or condescending. I'm sure people who are both better at drawing, and better at helping will be along soon.