Well, the number one thing you need to remember is: make sure your hamster is fully wake. They cannot be sleeping or half awake otherwise that'll startle them if you try to pick them up. Once they are awake, scramble the bedding around. Your hamster will be curious and possibly come to you. Lay your hand out and hopefully your hamster will crawl onto you. If your hamster doesn't, it's either because your hamster is scared, or you haven't tamed him/her.