Never from above, they feel like prey. From the sides, slip some fingers under her belly then lift and let it crawl your hands. Don't move suddenly or you will startle her: gentle slow movements are recommended.
Make sure you make her notice your presence. A light touch, tap the glass lightly or something like that to make sure she is not sleeping or you will startle her badly.
You may want to let her smell you a bit before picking her, but she will again while in your hands.