Charcoal pencils are dark and powdery. If you carve it into a fine point, you can draw very thin lines with it. You can then blur these lines by rubbing them with your finger or a cardboard blending stump. Charcoal generates a lot of extra powder, so you might have to blow on it to remove it from your drawing.
Start by outlining your animal.
Then carefully erase as much of the guidelines as possible.
Next, start to add small shadows along the outline of the body.
Gently rub the shadows to blur them together. Be careful not to push too hard because zebras have a very white coat.
Finally, add the most unique characteristic. For a zebra, that would be its stripes.