PghPat

I have a large panel - it's a wall hanging (or could be a quilt) and I have it sandwiched and am trying to outline all the picture. The panel is a baby quilt - it is a cartoon type Noah's Ark. I have done applique - using the blanket stitch or zig zag stitch quite a bit and enjoy it but I have never tried to do this straight stitch outlining. Right now I am just using my open toe foot (on my Janome 6600) with my regular settings but I'm having a hard time staying on the line. Should I be using my free motion quilting foot? I love doing applique and don't have any problems but this is driving me crazy. I will include (try to) a picture. How much outling would you do on it?

Thanks for any suggestions.