First of, in case you're a novice in general:<<
drive.google.com/drive/folders/0B8VO-JQCy3HgZ0U3QkVvVm4wREE|Here's>> a ton of .pdf books to start with. For starters I'd recommend, more or less in order:
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The New Drawing On The Right Side Of The Brain - This one's got a number of exercises to get the right mindset for drawing, and a number of different methods of looking at things.
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The Vilppu Drawing Manual - Talks a fair bit about the basic forms.
-Just about anything by Andrew Loomis - Especially
Drawing the Head and Hands will fill some blanks left by the previous works.
*Note that you don't necessarily need to memorize these cover-to-cover, but rather get the general gist of what they're about.
And an anatomy textbook or two won't hurt. Personally I've been using
Atlas of Human Anatomy for the Artist by Peck, which covers especially the bone structure in depth and provides a fair amount of observations on the structure and fuction of the human body. (This one costs money, but I'm sure there's free alternatives floating around on the net)
If you're not one for reading, like geekgirl already advised, start with stick figures (maybe use images of skeletons as reference for proportions), move on to basic geometry (cylinder arms, rectangle torsos etc.) and so on. On top of that, I'd also suggest getting a basic grasp of perspective as soon as possible, especially if you're looking to draw feet, since good perspective really enhances that kind of work.
And now, more specifically about digital:If you don't have a drawing tablet, try looking for a second-hand ones if you want to spend as little money as possible. There's always someone on online flea markets trying to get rid of that barely used tablet they got a few years ago when they wanted to try out drawing. Brandwise Wacom's almost always a safe bet, but other tablets can also have decent models, although I'd suggest googling for reviews beforehand to be safe.
Regarding programs, GIMP should suffice for early use, but moving on to something more specialized will be useful if/when you gain the confidence to devote more resources into your work.
A couple of links:
<<
www.youtube.com/watch?v=F1xP-e-y2Ns|10 mistakes digital artists make>> - Helps utilize some of the benefits of the digital medium.
<<
artists.pixelovely.com/practice-tools/>> Honestly, I'm not a fan of the poses, but it helps build mileage. Other than that, great tool for basic practice, especially if you've got a spare monitor or something else to have the image on while drawing.
*And one more piece of advice from me:
DON'T BE HASTY. Chances are even if you draw very often, it'll take time to strenghten your foundation. Don't move straight to something new once you're a little comfortable with your current level, instead take a week or two to refine what you already know to build up mileage before moving on to further stages.