Here are some ways of picking up a rabbit. Rabbits should never be picked up by their ears, although some people think it's alright, it really hurts the rabbit and you could injur his ears. Instead, try picking up a rabbit like this picture shows. After you get them in this position you can pull the rabbit up into your arms in a cradled position.
This method may not work good for a larger rabbit that dosen't like to be held and who tries to kick in this position because the rabbit could hurt himself if he kicks too hard. If this is the case, try holding the rabbit by scooping it up in your arms so that it's head is tucked under one arm and the feet are supported with your hands so they are not sticking out. This is considered the correct way to carry a rabbit and is used for showmanship contests.
If your rabbit is very big, you could wrap him or her up in a tow or blanket and hold the rabbit securely in your arms. That way the rabbit won't try to kick and will feel more secure
If you have a cage with the door on the side and often times the rabbit kicks when you try to put him through the door, here are some helpful suggestions.
1. Try putting the rabbit in Backwards
2. Try holding the rabbit in your arms like step 1 of the first illustrated picture of how to hold a rabbit shows. Then take the hand that supports the rear end of the rabbit and cover the rabbit's eyes so he can't see where your taking him. I know it sounds silly but it really does work. I think the reason they start to kick is because they get all excited since they see their house.