That's certainly true. You are ready to start picking up your pet. Just do it several times a day, hold it for a few seconds. Ensure your pets safety by releasing him at floor level. You can use the base of the tail as a gripping point to help you if you need it and you can hold the whole animal that way but only at the BASE. Chinchillas like to stand on thier feet when being held but typically don't like being held at first.
You're certainly ready to let your pet outside of the cage in a chinchilla safe room such as a bathroom where hazards such as power cords are out of the way of being chewed upon. The more you interact with your pet the more settled and adjusted your pet will become, but like BLS Chins said, the rate at which you do this partially depends on your pet so be cooperative. Have fun.