A grafting tool can be as simple as a bent piece of wire, or several varieties can be purchased. The tool is slipped under the larva which lifted out and placed in the bottom of the queen cell cup. Priming the cells with a small drop of royal jelly or even diluted honey makes it easier to float the larva off the tool. Don't flip over the larva. An unsteady hand is helped by bracing it lightly on the comb.
Good light is essential, a headlamp works well, sunlight is ok if done quickly.
Magnifying lamps are useful for those with poor eyesight. Some people are expert grafters from the start, others take more practice. Grafting is what prevents most people from attempting queen rearing. This is unfortunate, with an hour or two of practice, anyone can acquire this valuable skill. Give it a try.