I couldn't find any really easy way to do this, but I found one which is far easier than modelling each individual step / bump.
First I modeled two full cycles of the sequence -- middle, low, middle, high, middle, low, middle, high. This sequence mimicks a bobbing motion of the camera, as if it is walking in 1st person. Then, I deleted the last 3 vertices of the curve, leaving only middle, low, middle, high, middle.
I turned on snapping to vertices, tabbed into edit mode, selected the whole curve, and duplicated it. I then used vertex locking to lock the very first vertex of the duplicated curve to the very last vertex of the original curve, essentially moving the entire curve where I wanted it. Then, I deleted the very first vertex of the duplicated curve (leaving only low, middle, high, middle), selected what is now the new 1st vertex of the duplicated curve, as well as the last vertex of the original curve, and pressed F to join them.
If anyone knows of an easier way, please post.