Depends on who close inrvening foreground objects are.
If everything is in the distance then caerful hand holding is quite effective.
If you're doing multiple layers or shots with close foreground elements then specialised kit like a Nodal Ninja will help.
I use a simple setup for single layer strips - with a L bracket for the camera, a short nodal rail, and a cheap panoramic head that sits on a ball head. The ballhead is for leveling. The rotation is done using the panormaic head. The nodal point can be adjusted with the rail.