I purchased panels to make into charity or baby quilts etc. they were small size so would easily go under the harp. I then followed outlines etc and practiced patterns in open areas.
I love reading how to and learn that way I also enjoy watching utubes and any other ways I can before going on the fabric. I have done classes and tried different darning feet until I found I prefer an open front so I can see where I am better. I also picked a tip from here and I keep feed dogs up sometimes, I also take foot pedal out and speed half way and switch on button. Try all the tips and enjoy.
It gets easier as you gain confidence .