No. 68 Easy Under Drawing
Pastel pencils are a wonderful option for drawing guide lines for an under-painting. Use them on a toned canvas.
The pastel pencils have several advantages. You can choose a color that will not muddy your first layers of paint, the pencils make fairly precise lines, and they are easily erased with a damp paper towel.
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[From "151 Uncommon and Amazing Art Studio Secrets"]