I pin mine on my cutting table, but its height is 38-1/2" from the floor, so not much bending for me to do. I do one section (length and width of table size) at a time after the 3 layers are smoothed and clamped (with large 2" wide clips from an office supply store) to the table edges. The "table" is a sheet of plywood. I can pin from both ends and both sides of the table, so I don't have to reach/stretch too far. Once a section is done, than I remove the clips and repeat the process with another section of the quilt layers. It's a bit of a pain in the rear, but I've tried other methods and I like them even less.
For machine embroidery, I wouldn't have to pin at all if I would just practice at my Grace aluminum frame with the machine that is set up on it and get fairly good at it. I don't expect excellence, but right now all I can do is make a big fat mess. The quilt frame practice always gets shoved to the back burner and I never get any done.