If the animal is strong and uninjured it's always best to observe the situation before intervening. Their mothers can do a much better job of teaching them to be what they are than any of us could ever hope to do. If the young of any species have been picked up they can be reunited with their mother. Animals do not reject their young just because they have been handled. Return them to where they were found within 24 hours and chances are the mother is going to be returning there too, looking for her youngster.
Maternal instincts are strong.
She will recognize her youngster by its' scent and care for it. When returning a baby to a nest you must ensure that is is the right nest. Most animals will not accept a youngster that is not their own. Even very young animals will bite if startled or hurt. A pair of gardening gloves should be adequate for most babies.