YES! the only way to get over the fear of doing it is by doing it!
After you have taken fabric and flannele and played as Hobo advised, then take a practice sample like the real piece you want to quilt. Use the same weight fabric as your quilt top and the same weight as your backing, and the same batting that you plan on using.
Go ahead and practice on that sandwich the same quilting motifs that you want on your quilt. You will get good with time. And half the game is what you learn; the other half is the confidence you gain.
I find a thin poly batt tends to stick to my cotton top pretty well and not slide so much.