Let's assume you're cheapskate and skip obvious "get the f'ckn' art courses" thing.
* Pencil, eraser and paper. You will need a lot of this
* Buy (read "download") essential books like
Figure Drawing: Design and Invention and/or
The Art of Animal Drawing. Very good for basic things.
* Practice a lot.
* Practice a lot.
* Practice a lot.
* Buy (read "download") essential books like
Anatomy for the Artist and/or
An Atlas of Anatomy for Artists. With this you will learn how to draw human body without major fuck-ups.
Strength Training Anatomy isn't drawing book but very good for understanding how human body works.
* Practice a lot.
* Practice a lot.
* Practice a lot.
* If you are planning for more than lineart and sketches then books like
Color and Light will help.
* Practice a lot.
* Practice a lot.
* Practice a lot.
* Practice a lot.
* Practice a lot.
Edit: at later stages of your learning curve some
extra books are good but not essential
Similar
books in japanese also exists
Edit2: bolded titles are not the only books available. There's a lot of other books