Shea,
Flatpicking or fingerpicking? For flatpicking, I anchor my pinkie on the soundboard quite a bit. I use this as a reference so I know what string to pick on the difficult picking stuff. Many people will tell you this is not the correct way but it works for me.
For fingerpicking, learning how to plant will greatly improve your accuracy and tone. For a detail explanation on how to do this correctly, Scott Tenant's 'Pumping Nylon' books and videos have great exercises that will improve your fingerpicking.
GL
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