If the bi-pod doesn't instill confidence for you, there is little point in continuing to use it. However, as with all things, there is a right way and a wrong way to do things, and there are times in the field where the use of a bi-pod might be appropriate and other times its not.
I only use bi-pods with short legs, so their usefulness in the field is very limited since there are usually rocks or vegetation blocking the shot from prone. When I do use them, I lean into the rifle to load the bi-pod legs, which allows the rifle to recoil the same way from shot to shot. I usually have some intervening material, usually a work glove under each foot, keeping them off the ground. This prevents the bi-pod from recoil induced sinking into the ground if its soft or sandy, and it reduces vibration if the ground surface is hard. The only time when using a bi-pod in the field is appropriate is when you have an unobstructed view of the target, and plenty of time to get set up for the shot. The bi-pod should allow you to cant the rifle, but once its in position, it should be tight enough to stay put without flopping back and forth.
If you are shooting a bi-pod with long legs, it might be beneficial to use crossed sticks to support the butt of the rifle, a couple of cleaning rids work well, and you can jam your pack under one leg and a rolled up jacket under the other to stabilize your position if you're shooting from sitting.