You should always be careful with the head of your child while picking them up, as there are many soft spots which you should be careful of. Always support the head and the neck with one hand. While picking up your child from the cot or bed support the head and the neck with one hand and slide the other hand under the bottom and then pick them up. Hold the baby close to your chest for body warmth. You can scoop your baby around your arms and slide your palm from the bottom to the back of your baby supporting the whole body on your arm.
If you want to rest your baby on your shoulder to make him/her burp then you should follow the same way to pick him/her up as described above and then from the sleeping posture make him/her upright by supporting the head and the back on your shoulder and chest.
If you are a new parent then you will need the practice to hold your baby correctly for the first few days. Ask your family members or someone experienced or another caregiver to help you with it. You don’t want to hurt your newborn. And each time anyone holds your baby, makes sure that their hands are clean and sanitised.