You need to just jump in with both feet and just start doing it.
You need to take the pressure off your foot, drop or cover the feed dogs, make sure the top tension is set right to give you best stitches, wear gloves, I use garden gloves with rubber nubs. No way would I ever try it without them.
Like others have said just practice. I just do a meander, love the looks and love doing it. I keep a small sandwich and quilt on it to make sure the stitches are to my liking, then start on the quilt. Good luck.