Where contour drawing is slow and painstaking, gesture drawing is mad with abandon. Draw what the figure is "doing" rather than the edges. Draw through the figure quickly showing the essential action, weighting or "gesture" of the pose.
The image above is from the Natural Way to Draw and shows gestural drawing with weight, intent, and movement.
You can practice with a real model or on the site below. Set the "controls" to any way you like, but I'd suggest 30 or 60 seconds with both male and female figures. Clothing is up to you.
http://artists.pixelovely.com/practice-tools/figure-drawing/
Happy drawing!
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