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Your towel should be on your chest. Hold her against your chest with her feet towards your body. You can use blueberries, lettuce, or carrots, for instance. If you feed her a treat while you hold her, she'll come to associate your cuddles with good things. Use a soothing voice to talk to your guinea pig while you're holding her. It doesn't matter what you say, as long as you use a soothing voice. For instance, you can go into the bathroom with your guinea pig. Make sure there is nothing she can get into that she shouldn't (such as cleaning supplies). Also, make sure you cover any potential dangers, such as floor vents. Close the door. Place her on the floor, and let her run around. She'll enjoy exploring, and she'll also take some time getting to know you, too. If you want, sit on the floor with her. If you put her down every time she struggles, she learns that all she has to do is wiggle to get back in her cage. If you continue to hold her, she'll learn to stay calm. As your guinea pig sees the cage, she may want to jump, so keep a firm hold on her with both hands when placing her back in the cage. Wait to release her from your hand until she stops struggling. That way, she learns that she shouldn't squirm while you're holding her. Get your guinea pig out of her cage every day. That way, she'll slowly grow used to your attention over time and will eventually enjoy the cuddle time.

Summary:
Place the guinea pig against your chest. Feed her a treat. Talk to your guinea pig. Let her explore in a closed-off room. Do not put her down when she wiggles. Hold her firmly when returning her. Be consistent.