Personally, I never took any classes to learn how to solder, I’ve been doing it since I was 7 years old. Well, I didn’t have steady hands back then but overtime, my hand has gotten steadier also I know a few tricks here and there.
One of those steady-hand tricks is to use your pinky finger as base, so make sure your pinky finger is touching the ground while you solder if you want steadier hands.
Other than that, you just need to get the hang of using “just the right amount” of solder and your soldering iron is at the right temperature. The