I don't grab one of my kids unless it is in a dangerouse situation. I open the door and let them come out. Mine are in a big parrot cage and they have room to fly. If I need to get one out that doesn't want to step up, I keep my hand under it while it is flapping. When it realizes that I did not just grab it, it will land on my hand.
When they are out I let them fly around and burn off some energy. Once they do they are willing to step up to be cuddled.
In the wild a preditor would grab them from above or behind. They still have a natural fear of this. They don't want my hand to come down on them but when I approuch them from the front they are not affraid.
We also do a lot of nose to beak talking and they love it.





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