It is possible that you have stretched some or all of the ligaments when the joint dislocated. These ligaments stabilise and hold the joint in place. I have a friend with a similar problem with her shoulders. She did physio to strengthen the muscles that support the ligament and that did help for a while. In the end she needed to have some surgery. They took the ligaments that had been stretched, shortened them and reattached them to the bone. It was all done under general anaesthetic and it took her about 6 weeks to recover.
Muscle strengthening exercises, like Kirsty says, would usually be the first thing to try. Your GP ought to be able to refer you to a physiotherapist, who should be able to tell you just the right sort of exercises to do to help stop this from happening.
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