We nag a lot on the wisdom of using a tripod in certain photography situations, but you can get by most of the time hand-holding your baby -- if you know what you're doing. Boomer site Endless Years has a nicely illustrated tutorial on how to hold your camera in a way that will utilize your body to steady the shot.
One additional tip: While composing the shot, repeat the mantra "Be the tripod. Be the tripod..."
How To Hold Your Camera and Camera Phone For Better Results [Endless Years]
