A bird should be stepped up in one swoop motion. Its how they prefer it.
Walk up to the bird and put your fingers at the 'step up point' (we all know where that is) and swoop the baby up.
Until he was better though, I would do this when his toes couldnt get caught in anything. However, if the proper technique is used, the bird wont have time to latch.
He'll be on your finger looking around like 'damn'.
Trust me.
Remember: swoop motion below brest, right above feet. They get a clue fast.