Can I use my app for free on iOS?

Question

iOS

Guys, Google was tormented by the question in all languages ​​to formulate.
I want to write a lightweight utility for iOS 9.2.1. Text field, submit button and all))).
I know about the Apple Developer Program, but recently a friend said that you can install and use applications on your device . The truth is not quite clear how to do it.
Is there such a thing or did a friend mean something wrong? ..
Where to dig?))

Answer 1

Is it possible to create an iOS application and use it without publishing it in the AppStore?