Guinea pigs love human contact, and love to be picked up and cuddled. They do however have very round heavy bodies, and little legs, and they do not bounce well if they are dropped, so they must be picked up and carried very carefully so that they do not fall and break a leg.
If your new guinea pigs appear a bit skittish, running around their pen when you try to catch them, then spend some time just stroking them when you feed them, so that they become used to you first. Guinea pigs are always very friendly and will not bite when you try to pick them up.
It is usually best to support them with one hand under their chest, and one under their bottom, and then transfer them so that you are holding them supported against your chest as you move around. Only ever carry one guinea pig at a time.
Guinea pigs will sit on your lap for ages watching TV with you. It is always wise to sit them on a towel though, to catch any unfortunate little accidents!