I have used the serpentine stitch to quilt. This is a decorative stitch on my machine that is in the shape of a large S. I adjust the stitch length and stitch width to something I like. Since this stitch moves from left to right and back again, I use a zigzag foot for it. This is a very forgiving stitch. Mostly I have used it to quilt over seams in a straight line. When I needed to extend into a border, I used a ruler and sliver of white soap to extend the line.
Be careful when choosing a decorative stitch for quilting, as some can use a *lot* of thread and be very slow to quilt. I tried a feather stitch, for example, and found it pretty slow compared to the serpentine stitch.
Not all walking feet are good for decorative stitching. A lot of them don't like backward stitches, and many decorative stitches have backward elements in them. I heavily starch backing fabric and also spray baste my quilts, so have not found it necessary to use a walking foot.