(I’m presuming a Wacom Bamboo type tablet here, not an iPad or what have you)
One thing that will help scads, is if you’ve ever done life drawing or sketching in the wild where you never look at your paper as you work, instead following the contours with your eye and coordinating your hand/arm to that.
When you’re used to that, then you can have your tablet in front of you and look at your monitor to draw that much more easily.