You've got the general idea. Pin baste it, from the middle out making sure your backing is stretched tight before layering the batting and the top on to pin it. Then work it under your sewing machine until you're in the middle. Pick an area to work on, removing pins as you go. Once one section is done, start in the center again and work out on another section. Enjoy the process.
One website you might checkout is
www.freemotionquilting.blogspot.com
Search some of the early posts on her site and you'll get some really good FMQ skills.