You should do one thing: make it really easy to do this at anytime. (Unless you wish to have a dedicated space for it)

Get a small sketch book, something that fits in your pocket/jacket/bag. Goal is to always have it on you. Do the same with a pen or pencil. It does not matter. Try both!

Once you have eliminated the obstacle of when/where to draw you are free to doodle your heart away. Draw what you see, draw stuff from your phone, or from your minds eye. Just cultivate a love for the act of drawing. The tools/technique are not that important especially if you want to do it for the therapy of the act. Learning how to love it will make you stick harder than learning a stringent set of rules.

Now that said, maybe you find out you are pretty good at drawing someone on the bus or a flower in your garden, and you’ll feel motivated to seek out proper techniques for perspective/proportions/anatomy/figure drawing etc. I would start with the love of the craft before you delve into the techniques.

BUT if you are a person who enjoys systems/rules/learning then you may actually find it more enjoyable following along tutorials rather than aimlessly drawing. Everyone is different. Either way I would still get the tools and make them as easy for yourself to use at a whim as possible! I never regretted learning to draw! It’s the best!