Brush sizes are not necessarily universal among brush manufacturers; one company’s size 0 may be another company’s size 1. Check with your local artist supply store for guidance.
Good quality natural hair brushes include the Winsor Newton Series 7 and the Raphael. Good quality brushes with synthetic hair include the Winsor Newton Specter Gold II. Some artists prefer to work with a brush pen, which has a fibrous tip like a brush but uses ink cartridges like a fountain pen. Kuretake and Pentel each make quality brush pens. You may prefer to use different cartridges than those the pen comes with, however.
To help hold your brush in this position, place the side of your wrist on the paper and rest your middle finger on the paper ahead of the brush.
Don’t try to highlight all the penciled lines, only those that in your judgment bring out the scene you’re inking. You may want to discuss beforehand with your penciler which lines are the important ones.
Be aware that some non-repro-blue pencils (very light blue pencils designed not to show up in photocopies) can be very waxy, which may cause the ink to run when crossing these lines.