free motion really refers to how you set up the machine, and how you are able to move the fabric. Definitely use a stencil to follow at least until you figure out what you want to do freehand. Free motion involves a darning or other special foot and dropping the feed dogs to allow the fabric more freedom and ease of movement.
another thing is to practice first using your finger instead of a needle, tracing and retracing the design until it becomes muscle memory. that way, you are in automaton mode as you move the fabric. This then means you can focus on machine speed, and consistency of your movement without thinking 'where do I go next?'