It may take weeks for your chinchilla to know you well enough to let you pick him up. You'll see the best results if you move slowly, have lots of patience and visit with your chinchilla at the same time every day. After each session, reward your chinchilla for his good behavior. Your chinchilla will soon trust you enough to allow you to lift him out of his cage.
For more information, please read the story Training Your Chinchilla.