One tip I've read is to apply eyeliner (pencil) in dashes, it's easier than doing a continuous straight line, applying right along the lashline. I line upper and lower, starting in the middle of the lower lashline and going out to the edge, then from the middle to the inner corner, going back & forth a few times to intensify color or to make a thicker line, depending on the look I want. I do both lower lines, then start in the center of the upper lashine and go out to the outer edge, connecting with the lower line, then on the upper lashline I go from inner corner to the middle, I find it easier than going from the middle to the inner corner on the upper lid.
Whenever you have time sit in front of a mirror and practice, practice, practice. If it's bad, just wash it off and start over.
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As for what color to use, and thick or thin line, that's really a matter of preference. Brown is a more forgiving color than black, so it's a little easier to use, and might be a good place to start.