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Guinea pigs are ground dwelling animals, so it's scary for them to be picked up and whizzed into the air. First, get them used to you by speaking softly and hand-feeding them. Then, get them used to being touched and handled on the ground. Once they are comfortable with this, lift them into your lap whilst seated on the ground. Once they don't mind this this, try picking them up wrapped in a towel. This helps them feel more secure, and you will feel more confident that you won't get scratched and drop them.
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