Krita
There's a lot you can find out about Krita on their website here, but I'll give you an overview.Krita is a free digital painting program. You can think of it like photoshop with more of a focus on painting and less focus on photos, and of course it's free. Krita uses a complex brush engine system that is very flexible and allows you to create the kind of brush you need. It also works with layers, color pallets, shape tools, gradients, and pretty much anything else you could want. Krita is also consistently updated with bugfixes and new features so there are no worries of using an outdated, glitchy program. It's basically wonderful and anyone interested in doing digital painting/art should seriously check it out.