I picked up this tip from the funny little fabric shop downtown:
Use the blind-hem foot to attach piping or cording. The foot allows you to stitch exactly next to the piping (so you don't have some of the canvas sticking out of the finished seam too) and see what you're doing. I feel like a very mature seamstress, passing this tip along to you, but in truth, there are many functions and features of my machine and her feet that I don't understand.
Here I am, using the blind-hem foot to add some blue satin piping to a scarf that is going in the shop sometime later this week.