Just lots of time and patience really. Little steps, they need time to settle and get used to you and their new surroundings. Do every movement very slowly, hand feeding treats like small bits of favourite veggies. Have a cosy/box/tunnel to coax them into to lift onto your lap, do everything at floor level at first to prevent falls, gentle strokes and calm voices are best. Just spend time by the cage and chat to them. Enjoy them mostly!
I always say piggies are tamed through their stomach, once they are settled.
Have a read of the forums tips for settling a piggie, here’s the link.
Settling In And Making Friends With Guinea Pigs - A Guide