There is no cure for the legginess (as you put it) but strong light should help, and these plants tend to be more stable when they grow in clumps (as they tend to do when left to their own devices). You can stake the plant or tie it to something, but eventually it will reach its maximum and flower. The flowers are the best thing about this plant in my opinion, and worth waiting for.
There are various Kalanchoes which drop plantlets from their leaves (mothers of hundreds so to speak) and the name of the genus actually comes from that behavior, but the MOM is unusually prolific, whatever you choose to call it. I would agree with Daisy that burying the stem is probably a bad idea.
