The stability of prominences and the dynamics of an eruption are studied. The prominence is represented by an uniformly twisted, curved, magnetic tube, anchored at both ends in the photosphere. Several stages of the eruption are analyzed, from the pre-eruptive phase and the onset of the instability, up to the late phases of the process. Before the eruption, the prominence evolves through a series of equilibrium states, slowly ascending either due to an increase of the electric current or to mass loss. The eruption starts when the ratio of the current to the total mass attains a critical value after which no neighbouring equilibrium exists. The linearized equation of motion was used to obtain the instability threshold, which is presented in a form enabling comparison with the observations. The height at which the prominence erupts depends on the twist, and is typically comparable with the footpoint half-separation. Low-lying prominences are stable even for large twists. The importance of the external field reconnection below the filament, and the mass loss through the legs in the early phases of the eruption is stressed. The oscillations of stable prominences with periods on the Alfv6n time-scale are discussed. The results are compared with the observations.