Most artists use websites for their static gesture drawings, but you can also find videos on YouTube which will help you get better with decreasing time. Remember that gesture drawing is not drawing the figure in detail, but the gesture, so the motion behind the movement, and the weight associated with the pose.
S and C curves. Living things will, at any given point, have one part or group of parts that are having common curves, which can be easily found throughout the figure. A human body can have S curves and C curves, such as for example the female body, which vertebral column bears an S curve shape, and the buttocks would have a C shape, contour wise. Remember that it is only through daily practice that it will get easier, and by finding those guidelines, you will certainly win time.
Hold your pencil loosely and keep your motions fluid. Artists sometimes use gesture drawing as a warm-up to other kinds of drawing because it gets the muscles of your arm and hand loosened up. It does this because you try to just let yourself go. Relax and let your hand and arm move freely. You’re not trying to color within the lines. Limit the time you spend on each portion of the drawing. Not only should you not stop drawing, but you should also not keep drawing in any one place for too long. For practice, try to limit yourself to five or six seconds in any one area. Try to capture that part of the subject as well as you can in that time, and then move on. You could jump from working on the foot to working on the hand to drawing the head. Draw wherever your eyes go and don’t worry about trying to use a logical order or making sure that everything’s connected perfectly. Don’t erase. It is always a temptation to try to “fix” your work or try to think through your next move. Don’t give in to this temptation. If you never stop drawing, and if you keep your eyes shifting from your paper to the subject as much as possible, you shouldn’t have a problem with this.