Create a detailed sketch-style pencil drawing of Don Quixote, capturing the iconic and whimsical essence of this legendary character. The image should depict Don Quixote in his distinctive armor, with a tall, lanky frame, and his trademark helmet, possibly with a makeshift visor. His expression should reflect a blend of nobility, determination, and the gentle madness for which he is known. Beside him stands his loyal steed, Rocinante, an equally thin and somewhat comical representation of a horse, adding to the quixotic nature of the scene. The background should be minimal, perhaps suggesting a windmill in the far distance, subtly alluding to one of Don Quixote's famous misadventures, without detracting from the main focus on the character's intricate details, like the texture of his armor and the whimsical look in his eyes. The pencil strokes should convey movement and a touch of whimsy, reflecting the character's adventurous and chivalrous spirit.