In its most general definition, drawing is the act of putting a mark on a two dimensional medium.  the mark is made from the use of any of several substances, such as graphite, charcoal, stylus, markers, pastels, pen and ink, wax color pencils, or crayons. Although drawing is generally done on paper today, it is also found on building in the form of graffiti using chalk, markers, or spray paint typically. 

The works considered by some as painting such as the cave art examples in France, and the entries on "Newspaper Rock" in Utah both involved putting pigment on rock with primitive instruments.

Techniques used for drawing have changed over the years, for example considering the most famous examples of cave art found in France at the Cave of Lascoux.  This is just one of a series of caves which have presented an interesting and valid picture of those primitive artists in this period of history.  The drawing represented, as nearly as can be determined, life as it existed  through the eyes of an unknown artist or artists.

The drawings  in this case were spread out over several passageways and galleries.  Very little is known of the people who created the drawings except what can be learned through the study of the objects and landscapes incorporated in the drawings. 

Much the same is true of the drawings which appear on Newspaper Rock in Utah.  The people of the culture used the sharp instruments which chipped away a layer of the rock surface in order to expose the underlaying color which formed the basis of the array of objects and people depicted there.

Different cultures have used different types of paper. With people having little ability to have a convenient and constant supply of fresh paper, it is not surprising that earlier drawing was not usually a tear up and throw away what you don't like.  Chinese and Japanese cultures used rice paper.  Other mediums used were parchment, vellum, cloth.  Today, paper is plentiful and even budding artists have no hesitation about using paper to express their world view.

Most of the famous artists of history worked in other art forms as well as history.  Examples of Da Vinci, Michelangelo, and others.  They would often do studies of a single subject in many different forms, including painting for the final step.  Da Vinci's notebooks are a good example of the progression from drawing to the finished components being seen in the product produced in oils on canvas.

Generally, the level of detail is less for drawing than on the richness of a painting in oils or water colors.  However some techniques being portrayed will not be misinterpreted.  Subjects though have always been familiar objects of the life, home, and work.

Drawing today is used not only in terms of artistic work, but in commercial representations such newspapers and magazines.  Computer assisted drawing, while not artistic in the sense in which is commonly understand nevertheless produces beautiful drawings which are meant to be gazed upon as well as read.