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embroidery frame (available cheaply in any sewing or craft store)
strong fabric
thread (something that shows up well on your fabric
needle
scissors

Place your fabric tightly inside the embroidery frame. This will give you a flat and firm surface to work on. Thread your needle and start creating a picture inside the frame. You just have to be able to picture the design in your head as you go, to guide where the next stitch belongs. If you have trouble working without a pattern, you can always draw one on first using fabric chalk which you can rub off afterwards. When you have finished, you can attach your creation to a canvas using a staple gun.