This paper presents a real-time technique for rendering 3D meshes in the pencil drawing style. We analyze the characteristics of pencil drawing and incorporate them into the rendering process, which is fully implemented on a GPU. For object contours, we propose a multiple contour drawing technique that imitates trial-and-errors of human in contour drawing. For interior shading, we present a simple approach for mapping oriented textures onto an object surface. To improve the quality of pencil rendering, we generate and map pencil textures that reflect the properties of graphite pencils and paper. We show several rendering examples that demonstrate the high performance of the proposed technique in terms of speed and quality.