One hand supporting the neck and head, slide your other hand under their bum. While still bent over the crib, lift them close to your body, adjusting as needed (babies flail) so they are vertical - head by your shoulder, feet by your belly, and straighten up slowly.

most important thing is to insure the head is supported. Don't lift until you know what you're holding. use your sense of touch to determine what you are holding as you would have looked.

it's often a very overthought thing, I've been asked how I know I'm safe to hold a child more times than many other questions.

I love holding babies. However, I personally like to wait a few months so I don't have to worry about this issue as much.

Disclaimer, I'm not vision impaired, but I have an infant and my brother-in-law who is blind lives with us. How I pick up my son changes as he gets older, but generally speaking, I'll slide one stretched hand underneath his head, neck, and shoulders. I'll make sure his head is supported, like by my thumb and index finger. I'll slide my other hand underneath his bottom, typically from between his legs to really balance him, since if you're sliding both hands in from both sides, he won't be quite as stable. Depending on how big they are, maybe the easiest way to start off holding a baby is the "cradle hold", where one arm supports most of the weight, with their head in the crook of your elbow, and your other arm supporting wherever you need to, to stay balanced. The most important part is making sure their nose and mouth aren't covered, so feel to make sure they can breathe, and periodically check. If you're being handed the baby, ask which side the head is on, so you can be prepared. I'm righthanded, and typically prefer to hold him with my left arm, so I can feed him with my right. Think about your preference, too. Hopefully this helps!

How old is the baby?