How's it going so far Ripleyd? I got my chins at 6 years old so they had some tough habits to break. They were too scared to be picked up or held, I couldn't go anywhere near them. I started out with what Mt. Zion suggests, put your hand in a neutral location in the cage (not next to them) and hold it there for a while. Chins are very curious, and will want to know about it. They should eventually come up to it, sniff it, give it a test nibble (doesn't hurt), and start climbing on it. If you move your hand suddenly before they are used to it they will run. Keep it still until they are very comfortable climbing on it, then start to move your hand a bit while they are on it. Eventually mine were climbing out onto me as soon as I opened the door. One will sit on my shoulder for a few minutes while I walk around. When I moved to a different house it took a little while to get them back to this point again. As far as picking them up goes, I only got one of the two comfortable with this. The other was always way too skittish. He'd climb out on me but hated to be picked up. This is how I did it with the accepting one: If he is used to being hand-fed treats let him sniff and explore your hand first until he gets bored with it, otherwise once you move your hand past him to pick him up he's going to turn around to see what's in your hand. Once he's comfortable with you putting hour hands behind him and you've been doing it for a couple days, put your hands on each side of his back feet and leave them there until he doesn't run when you do it. Once he's comfortable, slowly slide your hands together, once he gets used to this he will automatically pick up his feet. After you have done this many times, begin to slowly pick him up, but don't move him far at first, just a few inches and not out of the cage. When I finally do move them out of the cage they are standing on one hand and their side is gently cupped with the other so they can't jump. They will get fidgety if held for too long. If you provide him with a special incentive he's going to be more happy about being picked up. When the one really wants to come out of the cage he will practically jump into my hands. I can tell when he really wants to come out when I open his door and he looks down at the floor (contemplating jumping down there) then stands up on his back legs to prepare to jump up onto my shoulder, then looks back down at the floor, then back at my shoulder, and eventually jumps onto my shoulder if I haven't picked him up yet.
Please do not try to pick her up before she is ready, you will only set all of your progress back. If she gets out or you let her out before she is ready to be picked up AND moved around in your hands, put some dust in the dustbath house and she should just jump right in if she loves baths. While mine is not afraid to be picked up, he hates to be told what to do and that it's time to go back in the cage, so I use a very small amount of dust to get him to jump in. Once they're spinning around in the house they have no idea they're being moved, but man are they ticked when they find out they've been tricked
A tip for a new chinchilla owner, I've trained mine with a pavlovian response. Every time I gave them treats I also made a repeated kissing noise. Now they come when I don't have treats since I don't give sweets or peanuts anymore. This makes it pretty easy to get mine to come out from under the dresser or bed so I can trick them with the dust bath.