How to tie off my thread when hand quilting

I know this probably seems like a very basic question, but I'm a quilting novice and I need some advice. When I come to the end of my thread as I'm hand quilting, how do I tie off the thread in a way that doesn't leave knots on the back side of the quilt? I've been trying to hide the knot as I start a section of thread by inserting the needle between two layers and burying the knot between the top and backing. But I have no clue how to hide it when I finish a section of thread. Is it even possible?

I have seen this done two different ways, but note that I'm no expert at either one!

One way, which is what I prefer and normally try to do, is to make a knot near the end of the sewing and then pull it through one layer of the fabric into the middle.  This takes practice and a bit more force than you're probably used to but makes the knot invisible.  Sometimes I have to sort of rub and smooth the layer that I pulled the knot through in order to close up the hole made by pulling the knot through.

The other way, which is I think borrowed from embroidery techniques, is not to tie a knot at all but to reverse the direction of sewing for several stitches in order to secure the thread end.  This gives a nice finished look, but I am always worried that the thread will eventually come loose.

Hopefully other more experienced posters will chip in soon with their wisdom!

With a few inches of thread left, loop the thread around the tip of your needle. Make your stitch, burying the thread between the layers instead of coming out the back. Bring the needle out a couple of inches away from your last stitch, give a gentle tug, and your knot will be hidden inside your quilt. Then snip the thread close to the fabric. Does this make sense? It's easier to do than to explain!