Drill two 1/16-inch pilot holes into opposite sides of the baluster's loose end, passing diagonally through the baluster and into the handrail or stair tread.
Drive two 4d finishing nails through the pilot holes, securing the end of the baluster tightly to the handrail or stair tread.
Countersink the nails slightly below the baluster's surface using a nail set.
Fill the countersunk nail holes with wood putty. Scrape the putty smooth with a putty knife and wipe off any excess around the hole with a wet paper towel.
Allow the putty to dry for the amount of time recommended on the container.
Color the putty-filled nail holes with a wood touch-up marker that matches the baluster. If the baluster is painted, use identical paint to cover the putty.
Repeat this process for all other loose balusters. If any are loose on the top and bottom, tighten both following the same steps.