To teach my parrots to be comfortable being held during talon grooming, I hold them in similar positions during play and beak scratches. Since they really enjoy having their beaks scratched, this is a good opportunity to use non-food based positive reinforcement to maintain tameness and prepare for less desirable events. Check out this article about making "bad things" less bad for your parrot:
But in this video, check out how Truman asks for beak scratches, how tame he is, how I can grab him any which way. Kili snuggles in my neck, asks for head scratches, and plays around. Video of Senegal Parrot and Cape Parrot enjoying handling.