Sugar gliders out of cage- first time?

OK im a person REALLY weary about animals that i care for (i hate it!) and i was wondering if someone could give me some tips on handling them. I have two, both a year and one month old. Now, im very scared to hold them because i fear of hurting them, or them hurting them( ones a little mean, ones hyper). Im really nervous but i want to be able to take them out and play and not worry. Ive already done the tent but there wasnt ennough room for them to glide. Please, no speeches, i just want to know how i can handle them in my room (bathroom=disgusting!!!) and any precatuins. Thanks!! I just want to not be scared.