Well I don't know what you've tried thus far but I'll start with the blatently obvious...
I'm a big fan of camera shake myself. I don't like the look of a static camera, it's too perfect. What I tend to do is keyframe the rotation of the camera, mostly in the Z, to kind of give it a tilt. Nobody holding a camera is going to keep their "transformations frozen", that camera's gonna rotate. : )
It's also going to jitter a lot. Up and down, but only slightly.
I find that keying the rotational axes (axis' ? : )) gives the most dramatic effect, but also keep in mind that a camera being held doesn't always stay on it's point of focus 100% of the time. The target will wander.
Unless it's a steadycam. ; )
All in all what I do is keyframe very close together. A camera shake is not going to jolt and then flllloooooaaaatt ever so slightly to another jolt, they're going to be in succession, very constant.
You can do a lot of this from the camera's POV but using the persp view will help you a lot as well.
I don't have any step by step tutorials for it, but stick with it and you should be able to come away with some nice effects. Good luck.
-FS_RAZ
PS - I just took out my Handycam and walked around my apartment with it. Rotation on the Z in each step and a lot of zooming in and zooming out. Dare I say mess with focal length in the camera's attributes and gasp! depth of field. It actually adds a lot to the effect. Good luck.