You need to pick him up by putting your hand under him first, then once he realises your going to pick him up slid you hand under his bum and with your free hand move him on to your arm, once he is on your arm use your free hand to steady him and lift.

As rabbits are a prey specie you should never make a grab for him by bringing your hand over him as this will make him nerves, you could also tempt him to come to you by offering a treat such as a carrot, then go through the above of picking him up.