Yes. Yes just start drawing anyway X3
Now I'm sure you've got ideas and things that you WANT to draw, but you're best off starting small, and realistic. If you have anything round, a cube, a cylinder, the blander the better. Place the object under a light. Try to draw the outline first, but then shade it. Color it in and try to place the darks where it's dark and the lights where it's light. This with both help to train your hand to be more steady and get used to drawing, and help your brain to wrap around the idea of reproducing 3D objects as 2D. Once you kind of get a feel for shading (and this can take several, long, boring attempts before it begins to set in), then move on to something a little more complicated.
Try drawing (from memory) something like a lightbulb, a toaster, or even a human eye. It might be easier to start with something opaque so you don't have to worry about something being clear or reflective, but if you want to go straight for it, start here. You'll probably find that, no matter what you choose, when you try to draw one of those things even though you see it every day, you never really paid much attention and don't really know what it looks like. NOW draw it from example; notice all the little details you'd forgotten about or didn't realize were there in the first place. This will help train your mind to pay attention to details during every day life. How many toes does a cat have on it's feet? Where exactly do a horse's legs bend and in which direction? Are human eyes closer to the top of the head... or the middle?
I would suggest setting aside an hour a day, or perhaps just picking one object a day, to do this with. It will be boring, it will be tedious, but it should work. You'll probably notice that the doodles you do for fun, the stuff you ACTUALLY want to draw, gets slightly better after each one of these sessions. Keep ALL your drawings, but put them away. After a month of doing this, go back to your first pictures and compare them to what you've got now. You'll be astonished :3
Even as a seasoned artist, I find myself happily surprised at my progress when I actually take the time to teach myself instead of just doodling. (I don't do it nearly as often as I should any more...)
Anyway, if you want any specific help or tips, have any smaller precise questions, I'd be more than willing to help ^^; You can get ahold of me VIA my deviantART page. My username is Dreamscape195