If you use a hoop or frame the quilt sandwich needs to be fairly loose to enable you to take your stitches.
Quilting without a hoop or frame is easier for me, just be aware of your tension, not too tight or too loose. I quilt in my lap with a longer needle and my quilt sandwich well pined or basted. Then I quilt from the center of the quilt out. Use your under fingers to keep things smooth as you take your stitches.
Here is a thread on the subject, lots of advice and info.
http://www.quiltingboard.com/t-1962-1.htm