You need to give them time to settle, particularly if you are giving them a new cage, they will then need more time to settle into that. I personally wouldn’t try to handle them for up to a week.
You also need to be aware though that guinea pigs are not cuddly creatures - they will range from those who don’t mind a cuddle, some who will tolerate it for health purposes only (ie to do their weekly weighing and daily health checks) and some that will simply hate being handled altogether. You will need to follow your piggies lead as to where they fall within the range! Most will never enjoy being picked up though as it cuts to their prey instincts so it can be best to herd them into a carrier and then pick them up from there.
I would never force them to be held though. I would concentrate on getting them to take food from your hand and then move onto being stroked while they are still in their cage, and then if they don’t mind being cuddled, then move on to that. It’s so important you take it at their pace though. It may well take some time.
With my piggies, Dexter is more confident than Popcorn and settled quickly, took food from my hand quickly and after six weeks of being with me he was quite happy to come for a chat at the bars, take food etc. Popcorn on the other hand took 18 months to be confident enough even to take food from my hand. However, neither of them enjoy being handled - they tolerate it for their health checks etc, but they don’t enjoy a cuddle, so I don’t do it. I sit in the shed with them and talk to them and they are happy to be around me (although it took a lot longer with Popcorn for him to stop hiding when I approached), but that is as far as it goes.