I have two guinea pigs, and they both like to be handled somewhat. I don't have a lot of advice for you, but I got some sites from the internet, they may be no good for you, but it's the least I can do;) It might be harder for you since you are allergic but.....PM me if you want to:)
http://www.petwebsite.com/guinea_pig_handling.htm
http://www.animalnetwork.com/critter...ing/handgp.asp