Maria, the stabs just don't look as good from the back. I had to learn this lesson the hard way from my elderly Aunt who showed me how to quilt. We had to get a flashlight and crawl underneath the frame for her to show me.
If you will loosen the fabric up in the frame, and not keep it so tight, you will probably understand the rocking thing better. Use your underhand to help you to get the fabric "folded" up onto the needle.
The fabric doesn't have to be nearly as tight in the frame as for embroidery. Think of the frame as just holding the quilt for you.
I found this lady's method to be extremely helpful! www.thimblelady.com
Hope this helps, and let us know of your progress.