The standard 'secret' for steadying the tip of the brush is for the brush hand (or that wrist/upper forearm) to be couched against something, either the opposing hand itself or a rest of some kind, e.g. a mahl stick in painting or a bridge in drawing. You could coble together an equivalent of either of those at home, possibly from stuff you already have lying around but they're not directly applicable to a lot of miniature painting and most people also need some means to hold the mini securely anyway, so one of the ideal solutions is to buy in or make yourself a holder or set of holders with a fat handle. Costs for the homemade type should be very low and can be free at the cheapest - like I said, can't beat the price. And they can be built to suit your own needs or preferences.
Depending on your chair/table setup at home you can tailor the handle so that the bottom of it rests on the desk during painting, or alternatively you can make it as short as necessary for a good grip (to keep weight to an absolute minimum) and rely on resting the elbow of that hand against the desk or your chair's armrest.
Einion