My best advice is to look where you're about to sew, and not at the needle. It's easier to control when you use that technique, it can also help to use one hand behind the foot and one in front lightly to guide the fabric.
I still have all the templates that my teachers gave me to practise on! Ff you buy some cheap calico cut it into square and draw designs like straight lines to start with and work your way up to swirls, learning to pivot cleanly and guide the fabric will come easier.
IT's hard not to get frustrated but it'll pay off!