i've taught myself to do everything related to sewing and quilting.
the best thing i've done to help with my free motion quilting is building this cheap quilting table.
http://www.youtube.com/watch?v=yAS25v3ZTk0
then just practice - its really not as hard as you'd think.
if you don't have a way to control the speed of your sewing machine you might want to consider building a brace to go around your pedal.
i had to do this - its hard enough getting the movement down with your hands and by setting the speed to a consistent pace its one less thing to worry about.