Right from the start we spent a lot of time with our little flock. We started by encouraging them to come to us - holding out handsful of corn or tasty little treats such as lettuce leaves. At first our arms were at full stretch, then we gradually enticed them closer and closer. Then we stroked them and finally picked them up (although one never allowed us to pick her up and another isn't so keen) Now they all come and eat from our hand; some will jump on our laps to get at treats, others won't. Some enjoy being picked up and cuddled, others don't. They've all got their own personalities, just like us.
When we hatched chicks, we did exactly the same thing with the same results. We kept two of the chicks - they all had exactly the same treatment but you can pick Punk up and she'll stay in your arms as long as you like, but her sister Rebecca doesn't enjoy being picked up and makes every effort to escape as fast as possible (so we let her go quickly).
By all means handle your chickens from the word go, but respect their wishes too.
Good luck.