Welcome.
What stitch length do you have your machine set for? When doing free motion quilting we tend to move the fabric a little faster. If you have the stitch length set to a speed 2 or larger, the needle will stay up until is time to come down and it looks like it skipped a stitch. I recommend to try setting you speed at a 1.5 or even a little shorter. Of course, a new needle will not hurt.