Drawing Lessons from the Great Masters.
https://www.amazon.com/Drawing-Lessons-Masters-Robert-Beverly/dp/0823014010
http://www.scribd.com/doc/2433658/Andrew-Loomis-Figure-Drawing-For-All-its-Worth
and
Two figure classes I've taken have basically been taught straight out of these two books. There are others too that are as good or better. But that is a good starting place.