hello! I just have a hopefully quick question

As I don't feel comfortable, or very nice, to lift up the poor fellows hide and expose him like that in order to handle him for a few minutes to get him used to it, what would be the best time to do that? I don't want him to never be handled, then not be used to it, and not be tame.

Should I wait until he comes out on his own late at night, when it seems like he would actually like to be taken out for a few minutes?