If you feel more comfortable get some thin gardening gloves to protect your hands for awhile.
Also try not to scare the pig make sure it knows you are coming to touch it, and always hold it secure as this is one of the reasons a pig will bite. They think you might drop them and they bite you to say put me down now.
Always wash your hands, if your hands smell of food they my think it is food. If holding food dont get your hands to close, mine bit me acidentally the other day because I was holding food and he thought my finger was food, maybe his eye sight is not too good.
Hold the guinea pig in a hand towel, as this helps the pig feel safe and also you can wrap the pig up in it the carry it round and put it back in it cage easier. And of course it's away from you skin and cannot bite you. I will let the pig sit on my lap on the towel to watch tv, that way the pig will not go to the toilet on you clothes, and you can quickly move him if you need to by just wrapping him up or lifting the edges of the towel so the pig is like in a hammock.
If you hand hold the pig - (i am right handed so ) when the pig is facing away from me or is facing right I scop my right hand under the pigs belly from the pigs right side, lift the pigs weight a little to allow you to scop the left hand under the pigs bum and back legs, lift up and out of cage and then hold the pig up right as if to expose his underneath, the pig should have it back to you, you should have your right hand round its middle/waist and your left hand under the pig holding his weight - the pig will normally stand on your left hand with their back feet. The guinea pig will feel safe like this and as long as you dont have you right hand too high up its middle i.e. too near its neck it cannot really bite you.