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Ink tends to work better than pencil because it is more defined and sharp. You could practice with pencil first, then move onto writing with a pen when you feel comfortable with the handwriting. While, you'll find that pens and fine tipped markers allow you to write more clearly and neatly than pencils in most cases, very sharp or mechanical pencils will work just fine too. And the images are just there for an example, they're not the only suggested approach.
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