Hatching is a slow process that they can usually do on their own. Interfering usually hurts a lot more than it helps. They should be fine.
Hatching is not instantaneous. The chick positions itself in the egg for internal pip. That's where it pokes through the membrane at the air sac and starts breathing air instead of living in a fluid world. Eventually it external pips, then eventually zips and hatches. When it hatches it is a helpless wet mess. They usually look pretty pitiful. But they dry off and start running around, playing rugby with the unhatched eggs.
During this process, they also absorb the yolk and dry up blood vessels inside the egg they don't need any more. They do something to get rid of that sticky goo around them so when they dry up they will be fluffy instead of having their down glued down. Some do a lot of this stufff before external pip and usually zip and complete hatching pretty quickly. Some do a lot of this between external pip and zip. These worry us because they take so long. Some may even not completely absorb the yolk before zip.
If you interfere before they do what they need to do, you can seriously harm them. If you open the incubator and let the humidity out, they can become stuck inside the eggshell and can't complete hatching. This is called shrink-wrapped. It does not happen every time you open the incubator while they are hatching, but it can happen so I advise against opening the incubator during hatch unless you have to.
Chicks can live off the yolk they absorb for three days without food and water. That's why they can be shipped through the mail. You don't need to take them out for a couple of days. I find it much better to leave them alone unless there is a specific energency you need to address.
Sounds like your hatch is going OK. Congratulations!