For really cheap lights, I highly recommend work lights. They're crude, but effective. They're hard to control, but give you a lot of light. Practicals work okay, but generally are impractical with lower end miniDV camcorders since they don't produce enough light. The end result is an extremely noisy image since most of these lower end camcorders compensate for little light by boosting the gain (dB), which let's you see, but at great cost to image quality.
Practicals in conjunction with worklights would be the cheapest solution. For a higher end cheapness, you could look into lowel, and smith-victor lighting systems both of which are much better than worklights, though more expensive. And if you want to go crazy, you can look at Dedolights, which are quite expensive.
Also, you can use household bulbs, there's no rule that says you can't, just remember than they don't put a lot of light out. In terms of color temperature, just remember to white balance! (adjust you camcorder for shooting under tungsten light)
As for what you can use to steady your camera better. Well, there's tripods, which you can find for as little as around $15-20. Tripods will do wonders for camera steadiness. Now, if you're talking about steadiness when you're moving the camera (like a dolly), that's a little more complicated. For that, If your camera by chance as a handle on the top, use it. Or make one. That steadies the camera quite a bit. Or you can try supporting the camera from the bottom. Basically, almost anything is better than putting your hand in through that sort of slip thing that's attached to the camera unless you're doing heavy duty documentary work.
After you get beyond these basics in camera steadiness, prices rise drastically. I know someone who built their own Steadicam system, which works really well. You can use a wheelchair, which works really well. Or, you can invest in a $200 Steadicam system... Which is about as cheap as they come...... And I don't know how well they work, although from footage I've seen they look pretty good.
Hope this helped! Good luck!