Most rabbits will learn to tolerate being picked up, but most don't like it.
With lots of positive reinforcement, my rabbits have learned to stay still and not squirm when they're held, but they don't ENJOY being held. I just try to get them used to it so that when they have to be picked up they are less likely to injure themselves or me if they start kicking or squirming.
What I did was pick my rabbit up, talk to her calmly, reward her with nose pets while holding her, then set her down and give her a treat. It started with short periods of being held and immediate treats and ended up with longer periods of being held, then I'd set her down and we'd run over to where the treats were. She'd follow along, knowing what was coming.