Mother is not going to reject them because you touch them.
She may be more concerned with what you are going to do if you take one.
There is nothing you can do with or for a kitten for quite a while, at least several days if you can't stand it...longer is better. Before snatching one up, you may pet Mom and cater to her, like bring her food and water, then in a day, touch a kitten. Unless she is guarded about you having a hand in 'her space'.
Mom will take care of the potty time by licking their behinds.
She will quit this when they start to eat 'elsewhere'. Then she will start on litter-box training.
While Mom is nursing the crew, you should give her good kitten food...she needs the best, balanced nutrition she can get.
Just being around the kittens will acclimate them to people. I doubt you will need to make any extra effort to make sure they like people.
Hope this answers your questions.
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