AFAIK unless you have a specific plugin that will create this effect the only way to do it is using Pan/Crop.
I've used this myself to get a handheld effect on stills. Starting with your clip frame in its normal position then move a few frames along the timeline. Grab the frame within the Pan/Crop window and move it slightly (which way you move it and by how much is your choice, depending upon the amount of shaking you want). A keyframe will be created at this point. Move further along the timeline and move the frame some more. Another keyframe will be created. Carry on doing this until you are satisfied with the length of the 'shake'. Make sure you finish with your frame in the centre.
If you're unsure, there are plenty of videos on YouTube showing how to use Pan/Crop. I did a quick search just now and found this
EDIT: Embedded video doesn't support timecodes, the shake I want is at 9:23
There's Active Camera that it's been mentioned, but for the best results nothing beats micro-moving and micro-rotating the panning frame by hand. I usually use a shoulder rig for dynamic shots, but it's always the case that in post you want to get more life in a static camera shot - and micro-moving is just the thing.
As an tip, it's a good thing to bounce and reimport the manipulated clip ("hiding" the previous one so you can always go back if u want to change the artificial shaking) so you can apply further processing without interfering with the control points which control the shaking.