A good little video is better than a long text to know how to hold your camera.
Note that if you don’t have a remote control (wireless or not) to take a picture, you can still use the 2 or 10 sec timer to avoid (reduce) moving when you press the shutter button.
Do the focus, press the button halfway, stabilize and wait, before the camera does the shot.
Keep your arms close to your body. You can also use your knee as a support when you shot close to the ground.
It’s more difficult with low light and longer exposure times, but, do some tests! It’s free!
The video comes from Gavin Hoey on Youtube http://www.youtube.com/user/PhotoGavin