Ranger - drift rider gave you some good advise. In my younger years I shot NRA smallbore competition (3 and 4 position) and had a good teacher. Some of the tips he gave me were: 1. get your body in a position where, like driftrider said, so you don't have to muscle your rifle into position. Shoulder it with your eyes closed and when you open them you should be close to your target. Reposition as necessary. 2. You will not get the rifle to hold steady but the key is having the crosshairs start moving in circles around the bull. With parctice, and lots of it, these circles will begin to get smaller and smaller. 3. Only apply pressure to the trigger when the crosshairs are in the bull (of course). 4. Don't ever jerk the trigger.
Practice, practice, practice. You can dry fire your centerfire rifle and not hurt it or go to the range and shoot you .22 LR from different positions - prone, sitting, kneeling and standing (offhand). Just shooting off a bench all the time does not make you a better shot. It does get you familiar with your rifle and tells you how accurate it is. Once that is determined, its time to start shooting like you would in a hunting situation. Another hunting tip is use a rest whenever possible. Your backpack, bi-pod or shooting sticks, a tree, anything that will help you be more solid. I know there are situations where you can't use a rest and an offhand shot is the only alternative. But the animal should be close enough to ensure a vital hit and this is where all that practice comes in handy.