From what I recall seeing with a "Sketching Session" with Frank Cho at a comicbook convention a year ago, you could use very soft graphite (I use 2B -- Cho used 4B) and keep as little pressure on it as you lay out your drawing as possible, putting the pressure on only when laying down your finishing strokes. At that point, you use a kneaded rubber eraser to pick up the lighter lines without doing too much to what you want to keep on the page.
I just normally used a standard kneadable eraser. Occasionally a GUM eraser if I am really trying to get something out (but mostly for coloured pencil drawings). I would also recommend an electric eraser. They use little rubber nibs. You can by the professional ones at art stores or cheaper ones from discount stores like the Dollar Store for starting. If there are lines I can see its usually not a big deal for me because once the artwork is done you can barely see them if at all.
I have an old SANFORD non abrasive non smudging Vinyl for erasing drafting film that works on "some" things. Have to be careful and maybe file it down to the size of your pencil lines. You don't want to just start rubbing away with the eraser because your paper will loose the tooth and the shading will be hard to match. Its an artwork in its self correcting work ~lol~. Erasers that you can peel away may work. The indention your pencil made on the paper may be visible once erased after graphite gets in that area. If that happens. Take your time and fill in that area the best you can.