If you know how to do the freestyle Catch-Up Drill, you know that one arm fully meets up with the arm out in front before the first arm pulls.
This video demonstrates a modified catch up freestyle and is not a drill. Try holding the lead arm out for two beats while the other arm ALMOST catches up. Sometimes I tell my swimmers to think Cat & Mouse (mouse just gets away).
This technique will keep your stroke long and stable and give you excellent timing.
It also can help you relax more, glide longer, and feel more confident when you first start learning how to swim.