There's no reason you can't handhold this lens. You may be aware of the rule of 1/focal length in mm as the slowest safe shutter speed for handholding, for example the slowest safe speed with a 105 mm lens would be 1/105, in practice 1/125. If you have shaky hands you will need to use higher speeds, maybe a technique like "Breathe in, breathe out, hold breath and press shutter release" will help. I don't think you will find the depth of field of a 2.8 or 3.5 lens wide open will be excessive, a lens like an 85 mm f2 would help you to use a faster speed but this lens is expensive now.
What camera are you using? Vibration levels go up as SLRs get older, the "camera shake" may be caused by the camera itself rather than your hands.