Well, start by getting a good pencil. Some pencils are really hard...others smear and fade too quickly.
Some pencils I like...MAC Powerpoints (these stay put really well and in fact are not that easy to remove) and Prestige waterproof automatic are my top two. MAC Eye Kohls have pretty colors and are easier to remove than the Powerpoints, but they don't last as well on.
All of these glide on really well, and the MAC's sharpen well too (of course you need not sharpen the Prestige automatics). In fact MAC sells a nice pencil sharpener for around $2.50.
Okay! So once you have your pencil in hand...now all you do is practice! Try out different ways to line. One way that looks good on just about anyone is to start with a very thin line at the inner corner of your top lid, then keep going (you need not make one continuous line; you can make several short ones, it's easier) and make the line thicker toward the outer corner, sort of "winging" it up a little bit.
You can line only the outer third of your upper lid too. Smudge the line a bit with your clean fingertip to blend.
Some line the lower lid entirely, some line only the outer third of the lower lid (usually the latter is paired with lining the entire upper lid).
I tried out all of the possible ways of lining, and ended up usually lining only the outer third of my upper lids. I can do the entire upper lids too. But any liner on my lower lid, doesn't look that good, so I don't do it.
Some people line the inner part of the lashline (upper or lower)...I don't like doing this. I just like to draw a thin line right at my lashes or just above.
hth some...