Take his chest in one hand to prevent forward movement, and with the other hand, maneuver his hind end towards you. Once you have his hind feet out, the hard part is over. Now that bunny is out, it's time to lift him. Start with the rabbit on the floor, say, in the bathroom. Approach him slowly and pet him, leaving your hand on his head to discourage escape.
Rabbits feel uneasy, and are most likely to struggle, when they are suspended in the air.
So be prepared before you lift. Visualize how you want to hold the rabbit once you have lifted him. Next, slide the rabbit around while he is still on the ground, until he matches this position, i.e. sideways and pointed left. Keep your hand on his head, or gently grasp his shoulders. Do not lift by the scruff.