There are a majority of artists, or frustrated artists, that have sustained using pencil drawing but haven't really explored its potential and never really got excellent with it. Pencil drawing is relatively harder compared to most mediums. This entails more intricate strokes and a really good hand at drawing.
Just like in charcoal drawing, one must be thoroughly detailed when using pencil. The only difference would probably lie on the thickness of the stroke. Charcoal basically gives a larger stroke compared to that of the pencil. Not all artists can do pencil drawing because of the detail-oriented part of it. These artists then tend to budge on painting with colors, but then realize that it too needs to be detailed.
If this is your problem, then I advise you to meet your troubles now. It would be better to meet the problem head on in order to be able to solve it at once. You will only be successful once you have overcome your problem once and for all.
So, here is a tutorial on how to improve your pencil drawing.
First and foremost, draw. Of course I may be stating the obvious. But generally speaking, the simplest way to improve your drawing skills is by drawing more. The more that you practice, the better you will be. In time, you will learn what to do and what not to do just by drawing more.
Second, observe. Pencil drawing is not just about putting a pencil and paper together. It is more about seeing and transferring that vision into the paper. Whether you are drawing from something you are currently seeing or just something out of your head, you need to be an observer to be able to put detail in your work.
Third, read up. It may be surprising to see this in a pencil drawing tutorial, but you should remember that you are not the only pople in the world. So, read up. Most artists have a compilation of their works and some have even written helpful books on the subject matter at hand. Read materials that will help you improve your craft.
These are just a few simple guidelines. However, take note that all the study and observation in the world will eventually mean nothing if you don't put your skills into use. You will never get better unless you do something about it.