Grab a bearded dragon never at the tail. This is not pleasant for the bearded Dragon. The bearded Dragon must be adequately supported, so he doesn't feel that he falls. Support preferably also the hind legs. Always make sure that the bearded Dragon you see it coming and approach than from the front. (If they still scare, give them a few seconds to shop around and do not hesitate to pick them quietly on.) Scoop the bearded Dragon if it were below the chest and let him further steps on your hand.
Do not make any sudden movements on purpose and make sure you have the bearded Dragon is always above your lap or a table. Sometimes they seem quiet, but they can at once streaking and of your hand off racing. Therefore it is advisable to your thumb on top of their backs.
Because the human body radiates heat, wanting some bearded dragons sometimes against the body to crawl.