I second everything Knitette said! I have a Kenmore (not sure of the model though) and I am still trying to do 'nice' FMQ. It does really come down to practice. Sounds like you are starting with a smaller piece. That will help as you will be able to move the piece as needed. The most important thing is to have the darning foot with the clear end, not the metal end. This will help you see where you've already stitched and where you still need to go!
I saw on the board once someone said FMQ was the same as writing, but instead of moving the pencil you move the paper to make letters. This is exactly right. You can do it!