Scooter was never one to love being picked. Punkin didnt mind, and Leo still doesnt but hes improving. Punkin learned first during his illness and Scooter now also does this, because of the extreme amount of handling both received.
When I want to pick Scooter up, I make sure he can see both of my hands. I will bring one hand in, in front of him. He will see this and as it gets close he will put a paw up in the air and acknowledge it, and he will "step up" onto my hand. I can then scoop up his bum and lift him. Toward the end, I could put my hand down in front of Punkin and say, "come on buddy, step up" and he would step up onto my hand.
It doesn't always work for everyone, some pigs just will not like being picked up and won't get used to it. But it does prove that frequent handling is one sure-fire way to accomplish getting your pig used to it, and you.