Trying to soothe your baby? Work your way up to full contact.
Rather than immediately picking her up when she fusses a bit, first try talking or singing within earshot, and/or moving yourself within view so she can see you. Then try looking into her eyes and smiling, followed by a gentle pat, and finally slowly rubbing her back, feet or head.
And then go right ahead and pick her up if none of that has helped to calm her down.
Being present for our children in these progressive steps is a wonderful way to foster healthy attachment - your child experiences you as available, attentive, and responsive, and she also gets the opportunity to gently expand her self-soothing abilities.