Your ear is your best friend. Listen like crazy to others that improvise that you just can't get enough of. Listen so much so that you can sing all or a lot of their solos. Then figure it out on your instrument. Learning to improvise is like learning a foreign language- you can't expect to learn a language you never hear spoken out loud. You don't learn a language from a book, you learn it by immersing yourself in it, by living in a country that speaks it as their native language for a period of time. You also can't be afraid of babbling or making mistakes when you're first starting out! No child ever learned to speak by reading a book, they learn through loads of experimentation and saying things many times wrong before they learn to say it right.
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