Cheri you want to use a darning foot which is also often called a quilting foot for free motion quilting. A walking foot does not allow any "free motion" because it is specifically designed to grip the fabric and keep all layers held together which is great for straight line stitch in the ditch quilting, but not free motion. A darning/FMQ foot does not sit tightly on top the fabric but floats just barely above it so when the feed dogs are down you are the only thing moving your quilt.
Most machines come with a darning foot similar to the photo below. You can also spend extra money to get a foot pretty much like that one but made of all metal for doing FMQ but the plastic one below works just fine. Some people like to clip the little plastic hoop at the very bottom of that foot so they have an open viewing space to see their stitches. Some darning/quilting feet already come with an open toe area.
The walking foot pictured on the right is designed to be used with the feed dogs up and it will only stitch a straight line unless you take the time to stop, pivot and go again every few stitches to give the look of a curved line! (not the recommended way to do curves and not what the walking foot was designed for). The photo on the left is one style of a 1/4" piecing foot. There are many different styles of 1/4" feet so many people try til they find the style they like best for piecing.
MaryB you are not on the wrong track....you are using the correct foot. Just make sure the foot is not gripping your fabric so that you cannot move it very freely any direction. Sometimes you have to use a ponytail rubber hair band and wrap it around the very top of the spring on the darning foot so that raises the foot a little higher. This helps especially if you are quilting a project that has fluffy batting.
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