Hi JTaylor2005 ... welcome to the forum.
Your piggies will take a while to settle into their new home. Don't try to pick them up too soon and when you do always approach them from the front so that they can see your hand and talk gently to them when doing so.
Basically, gently scoop them up under their belly from the front with one hand and then place your other hand over their back. Never grab them from behind or above because they will frighten them.
Every piggy has a different personality and if you have a confident pig, then that will help any others in the hutch to follow suit and be brave.
Patience will bring rewards and you will soon have both of them eating out of your hands and squeaking when they hear you coming to see and feed them.