I pick up my cats with the left hand under the chest and the right hand behind the back legs. I can carry mine close to my chest.

Unfortunately if the cat becomes scared this is worst way. It puts the cat in a great position from which to jump and you can't respond quick enough. It is good for cuddling while carrying.

When you pick the cat up you can flip the cat on its back on your arm and use the other hand on the cats chest.

At cat shows they use another technique. One hand under the cats chest behind the front legs and the other hand in front of the back lags. You pick the cat up with the front legs sticking forward and the back legs sticking backwards while lifting the cat above your head in front of you. It takes training: both for you and the cat. The cat is immobile but high enough to see everything. They are less afraid and you have complete control.