How old is your piggy? Babies tend to be squirmy and scared so it will take some time and training for you two to be comfortable with each other.
Remember, guinea pigs are prey animals and are always on the look out for predators that want to carry them away (even you). Most pigs won't willing allow you to pick them up, but once in your arms they'll settle down for a cuddle and scratch.
Some people use a towel to gently cover their pig to lift them out of their cage. Other use a shoe box with holes cut in them to "shoo" the pig into. Then you can lift the whole box out and put it your lap to get your piggy out.
Ginger let me hold her the day I got her!! Then yesterday-the 3rd day of me having her-I got to cuddle with her for about an hour! But all guinea pigs are different. Some tame quicker than others. Gived your pig some time, and don't ever think that she/he just doesn't like you, in time he/she will warm up to you more
also thought I'd mention that I held her for an hour with potty breaks-she gently nips me if she has to pee-and i put a towel down just in case as well. I also learned that she likes cuddling under my chin and licking my hand. LOL
One of my piggies comes to the side and begs to be held, she loves lap time and riding in a pocket. The other two run like crazy. One of them loves being held when she finally lets you hold her and the other hates being held.
They all have different personalities, just like people do. Some are shy; some are outgoing. It also has a lot to do with their early life experiences and whether they're frightened by sounds and sights. They normally calm down and start being braver once they know they can trust you.