Step 1: sketch figure out the shape, angle, and anatomy of said animal and/or character
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Step 2: make the sketch (insert color; personally I prefer a pale yet dark color in the blues or purples) and start lining over it!
(As you can see I made a couple changes to the anatomy of said character, which will happen a lot while your drawing as you notice or change things you don't see fit or out of place.)
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Step 3: using the paint bucket tool, fill in the the lines of the different color with your background color, in this case (and in most cases) it's white. I recommend using white or dark grey at first and then filling you background with the color/colors you want.
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Step 4: clean up your lines!
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