Steps:

1. Wear gloves to protect your skin from the guinea pig's claws.

2. Reach into their cage and slide your hand right under their belly. Raise a bit. Splay the legs either side of your hand.

3. Put your other hand behind their rump and push the two hands forward, creating a right diagonal motion.

4. Once in the air, place the guinea pig to your chest, which will give it a sense of security.

5. Be prepared to drop to your knees if your pet squirms. That makes it a lot less distance to fall if something happens.

6. Be gentle, patient and kind. In lifting and carrying a guinea pig, you are going against their nature and it may take some time to familiarize your guinea pig with the process.

Source: Wiki-How