Shaking your camera is usually a bad things. Let's explore some ways to make it stop moving.

Camera Shake

When you take a picture with a handheld camera, you push a button and the camera does some stuff. When you put it on a tripod and push the button, the camera moves a bit before settling down as it's doing the stuff. This means the beginning of your exposure is likely going to suffer from some focus or motion blur because your camera is literally moving at the time. Not a big deal for a 1/2000 second sports exposure but this is horrible for an astrophotography session. Plus, this shake is on top of the shake caused by mirror flip from the mirror of a DSLR camera as it flips up and down to let light onto the sensor or up to the viewfinder. We can't stop a DSLR from doing mirror flip (see below, however) but we can stop the camera from shaking when we push the button on a tripod.

1. Use a self-timer mode. Most cameras will have this built-in, and even the two second self-timer is generally enough for a light shake to calm down if you push the button. I prefer a 10 second timer, though, since that gives me time to push the button, get out of the way, and let everything settle for a bit.
2. Use a remote shutter release so when you push the button, it's at the end of a long cable that doesn't make the camera shake. This is what I do most of the time if I plan ahead, so that I can sit comfortably in a chair and push the button. Plus, the remote release I use as a timer function so I can set it to push the button at regular intervals. Perfect for aurora photography!
3. Use an app. If your phone has an app that lets you control your camera, then you can use that as a remote shutter release and never have to touch the camera at all. No shake.
4. If you're using a tripod, I also recommend bracing the tripod with some sandbags or other heavy objects around the neck to help steady it a bit. This is optional, and will cut down on movement caused by slight wind and drafts, as well.

All of this is great for dealing with the shake created by pushing the button, but does nothing about the "mirror flap" caused by the reflex mirror flipping out of the way. As long as you're using a DSLR, you can't really do anything about it becauause that's how they work. However, if your camera has a Live View mode, then it basically converts it into a poor-man's mirrorless camera and the mirror flips up for as long as you have Live View mode active. This solves the mirror flap problem as well.

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