I believe drawing must be kind of relaxing, I would like to learn how to do it.
I agree.  Drawing comes in so many forms like artistic expression or technical drawing such as in illustration or architecture.  
I think I'd prefer to learn the artistic expression kind.
What type of drawing interests you most?  You could use pencils, pens, crayons, etc.  There are so many ways to express yourself.
I believe pencil will be the more practical, I wonder what kind of pencils are best for drawing.
I think graphite is the most common, but a lot of people use colored pencils as well.