You can start by using a small wooden dowel (stick) if you are afraid of being bitten. You don't need to press into his feet. Let's say he's sitting on his perch...you put your hand against his chest and push a little-it will knock him off balance, and he'll want to grab onto something, and he'll climb onto your hand. As you do this, say step-up! Keep praciticing like that and he should learn quickly.