Where do cats like to be picked up?

It is best to gently slide your hand, from one side or the other, under their chest between their front legs. Gently lift them up and as their back legs start to dangle, cradle their hips above the tail and curl them gently to evenly support their weight between both hands until you bring them up to your chest where you can lean back and let them rest on your chest.

Usually for a full-grown cat it's best to put one hand under their chest behind their front legs, then scoop up their back paws in your other hand. Then as you pick them up slide your arm from behind their front legs to underneath them (they should be bent in a lying down position by now) and curl your same arm over them so that your hand reaches their back, so you can pet them. Keep their back legs and hips nestled in the crook of your other arm. When they want down, let them down. Also, this should only be attempted if the cat is relaxed around you, and if it is comfortable being held in the first place.