Mine used to put up a fight, but now she tolerates it without a problem.
There is a right way to hold your rabbit if you didn’t know: I go under the arms with one hand and scoop up the bum with my other in a swift motion. Bring them to your chest quickly. Make them feel secure.
What helps is petting them a lot prior to picking them up to relax them. You can also try testing the boundaries occasionally by getting them relaxed into a petting session, and then lift their front half up, and gently bring them down again. This gets them more used to being handled. Also, sometimes my rabbit will put her front paws on me if i’m sitting cross-legged. I saw that as a perfect opportunity to slide my hands under her to get her used to the feeling. One last thing that really helped the process was redirecting my rabbit every time she was doing something naughty. Both my SO and I scoop her up whenever we want her to move. we don’t bring her far up from the ground, but rather just enough to where she’s still being handled.
I also pick my rabbit up to take her in the car for adventures. (I don’t generally use a carrier). This instilled trust into her.
The important thing is to make sure you’re trying to handle them as often as possible, even if they temporarily hate you for it. It will pay off in the long run.