Here is a link to a very simple and clear tutorial for hand quilting. She is showing a big stitch method, which is probably a good way to start.
If you want to do the smaller stitch quilting, do it exactly the same way, just use small hand quilting needles and hand quilting thread. And make a larger knot when starting. Use a quilters knot or roll it off your finger.
One thing she does not mention is that the quilt sandwich in the hoop should be taut, but not as tight as when doing hand embroidery. It has to have enough give to make that little "hill" she talks about. Tension is very important when hand quilting.
If you have any questions, feel free to message me. I've been hand quilting for over 40 yrs. and do not want this art to die.
https://www.youtube.com/watch?v=8DXN5Ger_jo