I like to baste rather than pin. I learned to use the herringbone basting stitch for tailoring a jacket once, so when I saw Sharon Schamber's method I use that stitch, I knew it would hold. I've used it on four quilts. Her board method is great for smaller quilts, but I don't have enough space to set up several tables for a queen size quilt.
I have Harriet Hargrave's book on machine quilting. She likes to the quilt to drape over the edge of a table on all sides so gravity helps with keeping the layers smooth. I use her method of marking the center points on the table with taped toothpicks. Since I usually have blocks on the back of the quilt it helps line them up, then since the quilt isn't fastened to the table, I can lift and check alignment as I go. To minimize back pain, I use bed lifters on the table to raise it up to 36". At that height I can drape a queen size on one folding table.