Short answer: nope.
Less short answer:
If you're exceedingly patient, in theory you could use your editing software to go in frame by frame, and adjust every frame so that the picture was stable, but this method would take forever. Seriously, there are 30 frames per second, and even if you could move with lightning speed and do one frame every four seconds (I don't think I could do that), you'd be looking at two hours of non-stop editing just to stabilize one minute of video.
The best advice I can give you is to quit shaking so much when you videotape. How do you do that? Practice, practice, practice! The first time I took a camera off the tripod, I was all over the place. Today, my handheld shots are only slightly less stable than the ones we get from tripod shooting.
Here's an exercise to try. For the next few weeks, every spare moment you've got should be spent with your camcorder. Record everything handheld, and at the end of each day, sit down and watch your tape. Make notes of when you're more stable, and when you're all over the place. Try holding the camera different ways, like holding it low, against your body while you brace yourself against something. Try holding our camera in your right hand, and grasping your right wrist with your left hand for extra support. In a couple weeks time, you'll stabilize your shots a lot. And if you can't take your camcorder someplace, take a 5 lb. weight. carrying around a little extra weight will build those muscles, and the more arm strangth you have, the less shake you'll see.
But sadly, there's not a whole lot you can do for the footage you've got. There are some programs out there that claim to help reduce this, but they usually don't work all that well, and your video quality suffers greatly after punching them through.