Testing swift apps on iphone

I'm relatively new to Swift, and I've been using the iOS simulator. It works, but I want to test my program on my iPhone. I've done a lot of searching for a way, and it looks like I'll have to pay $$99 to test an app I created on my iPhone. I don't want to release it on the app store. Did I overlook something, or will I have to pay $99?

EDIT: I may have been unclear about where I'd pay the 99$. It says I have to enroll in a developer program ($99).