Hello
Good choice of reptile!
Beardies are very reluctant to bite. They are very popular as pets because of this, and I have only heard of one of two in the a hundred, that have been a little more feisty. It's generally not in their nature.
However, as babies they can be very fast and skittish and I think this is what puts people of handling them, ad then as times goes by, they become unhandable adults.

The key is too do it little and often. For a few days, place you hand into their viv and allow them to get used to your hands. Try sitting them on you hand whilst it's flat in the bottom of their viv. Over time you can bring your hands out.
A good way to restrain a baby is placing your first and middle finger over their shoulders, so the palm of your hand is on their back. Just be very careful as they can be quite delicate when tiny. Just give them lots of time, they generally slow down as they get older, so it only gets easier.

Have a quick search through all the other bearded dragon threads, I have posted in lots of them and there is some really good advice.