Once I have the drawings done I like to ink them just to make selecting stuff easier later on. It's not necessary (uninked images can look just as good) but it can be a whole different process to color a pencil drawing. On both images I went a little beyond what I thought needed to fit in the scene for two reasons. First, it can come in handy to have a little extra room when placing the characters later on, and second I find it easier to get better balance in a drawing when I can do a full figure (sans legs).
On the left are the two final drawings. As you can see they're quite a mess but that all gets fixed in the inking. On the right are the inked version with no photoshop ajustments. They're still too messy but that'll get fixed too (funny how that happens isn't it?). Notice how all the lines meet and I've drawn lines across their legs. It's important later on that your drawings have no holes on the outer edges so watch out for that. Oh yeah, and I should mention I erased the pencil after I inked it (should be a no-brainer, eh?).