I usually just wing it when I make a drawing.

I don't do what I did in this image and make a skeleton to work off of, meaning some of my drawings look disproportionate and weird

However on part of a drawing I did recently I just couldn't figure out the legs and figured I might as well try this

After that I was finally able to make it look right

After I finish typing this I'm gonna finish that drawing and show you how it turned out

(the drawing from this image not the one I couldn't do the legs right on, I'll give you a link if you're interested)

I'm still not that good compared to a lot of other artists but I think this is a step towards getting better