First if you don't have a foot on your machine, that is very dangerous. You should always have a foot on your machine. ..whether it is a walking foot for straight stitching or a darning, or a free motion foot designed for your machine. Call a locall dealer and tell them the make and model of your mahine and get some feet. Go on line and look for beginning free motion instruction, there are a lot on you tube. If you are free motioning, also get a 90/14 topstithch needle (s).
Next, make a 12 in square quilt sandwich. ..a layer of còtton, batting and another piece of cotton fabric. Then get instruction on free motion quilting. .....then practice on the small 12 inch sq. I practiced my swirls on a piece of paper before going to my quilt sandwich when I first started...best wishes