Many people experience this, it can be hard to live with and frustrating, but we can calm our hands and use our control over them to do other things,

Recently Ive been telling myself to "be still" (and i must admit i dont manage to do it all the time) I say it internally when around people, and externally when alone.
"Be still" and at the same time I be still. I rest my hands on my lap. still.

It can quell the urge

Relaxation throughout the day, everyday, is slowly helping to have a calming effect, I breathe deeply and slowly each day and ground frequently, i do some mindfullness (youtube has good clips for mindfulness) and
make myself stroke my skin instead of picking, stroking my body part

You can do this RebbieDoll, Purple and Cookies, I believe that we all can calm our hands and calm our actions we can