When I check my boys, I hold them normal, first, and then pet them and calm them down, sometimes I give them a plain shredded wheat to occupy themselves. Then I grab them below the shoulder blades, with my palm on their back, and my fingers under their arms/armpits for support. But I am always sure to set their feet on my leg or a flat surface, so that they don't feel scared that they're going to fall.
It's important not to tip them backwards, because they feel so vulnerable when they're on their back, so don't try to cradle them like a baby--I saw someone try that when checking for hair rings, it never worked out well, she always got bitten.