1. Start Slow, be patient, and remember YOU are the boss.
2. Two Words: CHIN-RUB.... your best friend if they get a feel for it.
3. She will try to run if you go from above, if you go slowly from front, almost scoop from front and use other hand to support belly/bottom. Give her a place to crawl to, like your shoulder, so SHE gets to pick where it goes, once she realizes you're not trying to eat her, she'll potentially want to crawl on you like it might've crawled on her brothers/sisters as a hatchling.
4. BE AS WARM AS POSSIBLE when you pick your beardie up. Just like your significant other doesn't like you with cold feet climbing into bed, a beardie likes warmth rather than frigid hands.
5. COMMUNICATE that it can trust you by supporting it all the time, and not letting it even feel a hint of falling or losing grip. Watch for stress marks, if she starts blacking her beard, she's not liking it, and if she's flattening or filling out her body, she's probably uncomfortable. The trick is to try to not HOLD her as much as let her rest/ride on you- that's what her claws are for. It doesn't take too too long if you're patient and even try daily.
If nothing else works, see if you can hand-feed your beardie. If he/she takes a piece of lettuce or a worm or whatever from your hand, it'll realize it's you and potentially be less squirmish when you try to hold him/her.
Stripes goes right on my shoulder, and I'll start walking. She just climbs up, looks over my shoulder, or occasionally will turn around and see where we are going.