Get some pointers, then experiment with developing your own handling style. Counter to old wives tales, newborns can smell, hear, taste and see. Don't allow the good intentions of nurses, your wife, or other relatives to be critical of your skills and remove the baby. Don't be afraid of experimentation. Women have a slightly curved forearm and extended hip, perfect for holding a baby.
Fathers have a more developed upper body and wide shoulder, also perfect for holding a baby.
Most new fathers have expectations of an infant's behavior to be that of a child 6 to 12 months old. Take time to observe other infants and ask the age of the child you observe. You're under stress, and good stress or bad, your body doesn't know the difference. Your resistance to disease, as well as your patience and decision making ability may be diminished for a while. When the baby arrives home, you will be losing a lot of sleep.