Come at her from the front or the side where she can see you, give her a second to notice, and lift with your hand supporting the plastron so she stays level rather than dangling. Keep it short, because most tortoises tolerate handling without enjoying it.
The thing that changed mine was hand-feeding greens and spending time near the enclosure doing nothing. A hand that sometimes means food gets a very different reception from a hand that only ever means being picked up.