If you are needing to pick him up for grooming or other necessary reasons, you might try training him to go into a carrier or box with treats, then you can lift him to a table that way.
In terms of technique, you want to do it in such a way that they are very supported, and also very sure that they won’t be able to squirm away (and in your case, not be able to attack you). Firmness is key (obviously not squeezing them too much though!).
I’m right handed, I’ll try to explain my strategy! My technique is to first place the back of my right hand on the ground in front of them (so I’m facing the bunny head-on), as though I’m going to pet them. Then I place my left hand on their bum, so my left forearm is along the left side of them. I simultaneously slide my right hand under their front end on the right side (like their arm pits). Lift the front and and scoop their bum towards me, so their bum is in my left hand, but back feet are not touching anything. So now they are lifted off the ground, with both front and hind end supported. I then immediately pull them close to my body, and usually will tuck their head under my left arm, so their right side is now pressed against my body. Doing this blocks their vision and makes them much less likely to struggle as they are held on all sides. I’ve never gotten a bite, kick, scratch this way, even with large and squirmy bunnies. I of course make sure their nose is exposed!
I’ve even been able to hold squirmy buns briefly with just my left hand this way (head tucked under my arm, bum in left hand, left side against left forearm, right side against my body), leaving my right hand free to open carrier doors, etc.
I always give a big food reward after I’ve done whatever needed to be done (in my case I have to give medication injections every other day!), and I’m quickly forgiven. 
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The answers provided in this discussion are for general guideline purposes only. The information is not intended to diagnose or treat your pet. Seek the advice of your veterinarian or a qualified behaviorist.