Rough drafts aren't supposed to be brilliant from the get go. Actually, that's why they're called rough drafts.
You should try to get it finished before worrying about how bad it is or something. Well, not that that ever stops me from thinking that, anyway.
Believe it or not, outlining and taking notes help a lot, if you're not already doing that. Personally I try to avoid outlines, because I don't want to set a strict path for my story to flow down; I much prefer things to pop into my head as I'm writing or editing, and allowing the story to branch off in a different direction should I feel the sudden need for it. Though, that's not to say that I don't have a goal in mind when I begin.
Outline basic events, and take notes on specific details you want. Skip ahead if you need to, make notations of what you're skipping. Write what you think you can write now, get up walk away etc.
But definitely do not worry about how good the piece is until the editing stage, and sit there editing and editing until you are completely satisfied.
And then edit for another hour or more.
But like any art, I can't tell you how to do it; you need to discover a way that works for you. The methods I've developed (they certainly aren't the ones I would advise, and I didn't list them) work for me because of who I am, where I've been, who I've met, what training I've already had, and a hundred other small things that I wouldn't even consider being related to writing.
Yeah, just don't worry or stress yourself out so much, though.
Also getting someone to talk with about things is a great idea. There's a sub forum over at the TT for this sort of thing, if you're interested, but I'm one of the only people that posts their regularly.
You may hit me up in pm's if you want to get into intimate details about your story and what not. Hehe. Intimate. It's like sex.
Etc.