With a lot of practise! Just be patient and write a lot.
It is important that you write with your arm and shoulder instead of your wrist. If you were taught to write after the 1960's, chances are you draw your letter forms with your fingers and wrists. Despite how it sounds, this is actually a less accurate way to write. If you learn to write with the muscles in your arm, your strokes will flow much better and be more uniform.
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Before trying to learn specific letter forms or shapes, practice writing from your arm and shoulder in the air or on a white board, try not to move your fingers or wrist, write big sweeping across movements, get comfortable with lines and shapes before you attempt letters, this will make your strokes much cleaner and smoother. It does require an amount of concentration, but if you let yourself write (with breaks) for ten minutes it will help you stop tensing your elbow.
Look at other people's handwriting for ideas. The signers of the Declaration of Independence often had distinctive, even elegant handwriting. They lived in an age when every message and letter was handwritten, and it shows in their skills.
Practice writing the letters until you are very comfortable with creating the shapes involved with them. Use cursive writing, either practicing with words and making sentences, working with your autograph, or simply stringing together random letters.
Find your own style. Sometimes it can be VERY hard to find your own style. So look for your personality for inspiration: are you optimistic? hyper? calm? Choose either a loopy handwriting, a clean crisp handwriting or whatever suits you.
Write everything longhand that you think of, avoiding typing, writing on a PC, or other short cuts. Use every excuse to use your time for writing, whether making lists, notes, or letters, or simply doing creative writing exercises. This improves your control, and develops your muscles and eye-hand coordination.
Experiment with different writing instruments, like wide tip pens, markers, colored pencils, and even calligraphy pens. These may not be at all suitable for daily writing projects, but they do offer a chance to develop ideas and add artistic qualities to your script.
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