Lots and lots of handling. In the beginning we would do 10-20 minute sessions once a day paying attention to the snake's demeanor. If they were curled up a a tight knot then we would continue to hold, aka act like furniture, until they would relax and start exploring. After that we would put them back. We handled right away. We are part of their environment after all. Also, we work with our snakes so they are okay with someone messing the their head and tail. There are times when we would need to do this and would rather avoid begin struck or stress the snake with something new, especially with head shy bps.
Being that we have cats our guys are usually on us. Every once in awhile they slither around on our bed.
Kids.. Ours don't man handle. Now that Julius is larger our oldest son isnt too interested in handling but he does know how to properly "pet" him. Our daughter acts like furniture. Lol. She'll redirect him as needed.
We don't tend to take them outside but indoors we'll just go about our business. Snakes will let you know in their own way if something bothers them.