If everything is set up right and there is no wind, yes it will hover motionless for a short time. Eventually it will start to drift in one direction or another.

If yours is set up right (heli is balanced with battery, level swash, blades tracking the same, blades balanced, flybar paddles straight, gain and proportional dialed in, and trim adjustments made) and nothing is bent (spindle, main shaft, or flybar) and your fighting it in all diections it might be that you are over correcting it. A good indicator that something is out of whack is vibration. To hold a hover it just takes very small amounts of stick movement. If you input too much stick movement you have to correct again, but if you over correct you will start "fighting it."