I do it all the time. Do you have the manual? There's a setting you need to choose (not near my machine to look) and I want to say the stitch on the "V" menu... I got the hopping foot which I love, but there is a clear darning foot that comes with the machine. There is no built in stitch regulator, but after some practice your machine speed and hand motion will coordinate. I never have had any problem with the tension, just left it at the regular setting for wovens.