Run a Test apps on my iPhone

Hi

I'm new in iOS development, I created a test apps with xCode. If I would like to run it on my iPhone does I have to be a register apple iOS developper program?

I don't wan to distribute it just check it on an iPhone ou iPod device

If it is possible without membership, is someone can provide me some hints or a quick tutorial to publish my test apps on a device.

Thanks for your help.

Regards,

Eric