There are different methods if you are afraid of inking direct onto your pencils.
I used to scan my pencils in and printed them out in blue, then I just inked the print out. You can do the same with a copy-machine or at a copystore.

Another method is a light-box/table, basicly this is a glass plate, with a light under it.
Simple place your pencils on the glassplate.
Put another sheet of paper over it and trace the pencil drawing on the new sheet.
Now ink the new version.

Also some people use tracing papers.

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Wer nicht vom Meister lernt, lernt nie etwas.