If playback is jerky or there's some other recording issue, what memory card are you using?
If the video itself is ok, but you're having camera stability issues, you can try different techniques for holding the camera, but a tripod will offer the best support. Handheld video can be a real challenge, and smooth capture seems to be highly dependent on the videographer. I try to tuck my elbows in and keep the camera centered on my upper chest. With that position, I can see the screen reasonably well, but I've made my body more stable. I also tend to pan slowly, and turn my whole torso as one. When possible, try not to zoom while recording, or edit it out later.
DeShaker is a software shake reduction application I've seen recommended here, and there are others. Worth a shot if all else fails and your video still has the shakes.