go to File-> External Content -> Place External Drawing
Use the Work Sheet as a Trace Reference
This is the way I usually do it unless I need to know what layers things are on (it can be hard to tell slab edges from floor finishes from gridlines etc. on some drawings). If you do need the layers you can also xREF the drawing, which keeps the layers from polluting your file, or explode the placed drawing if you don't mind adding all of its layers.
