In the strictest sense -- you just use your hands and your eyes to draw without other aids. In the old days other aids would be a ruler or other mechanical drawing devises. Now it means that you are not using other means of reproducing images such as photography or any other means of copying from a photograph. This is not wrong -- it is just not what freehand drawing means. Simply put, in the most straightforward way -- you would be drawing by looking at something in the world and using your hands with a pencil, pen or other drawing media to draw what you see.
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