Yes, I do all my quilting on a domestic - I don't own a mid or long arm.
It took a while, but I have become comfortable with it. I STILL practice though! Each time I want to try a new quilting motif (and there are still a LOT that are new to me), or one that I've not done in some time, I practice ... a LOT. I don't ... and I mean NEVER, put my quilt under the machine until I've practiced the motions over and over with the same thread, batting and fabric. Even if I plan on quilting using something I'm very familiar with (stipling for example), I'll still do a short practice with the same batting, fabric and thread to make sure everything plays together properly.
I am in fact practicing two motions now that I plan on using on my mini lone-star. I started practicing Sunday, I'll probably not touch the real quilt until this weekend at the earliest.
Sue