How Do I Take My Budgie Out of the Cage?

Hi, i'm very new to budgies and was just wondering how to properly take a budgie out of a cage. This is my first budgie and is around 4 months old. I've had him for nearly a month and I bought him from a pet store. He's used to my hand in the cage and enjoys stepping up on my finger. My budgie often grinds his beak and chirps. I've been trying to get my bird closer to the cage door (which hes been getting very good at). Yesterday I slowly took him out of the cage on my finger with a piece of millet in my other hand. His cage is on top of a cabinet that is around 7 feet off the ground. At first he looked around for a bit and then started eating the millet in my hand. Then all of a sudden he looked around really fast and fluttered down onto the ground (his wings are clipped). He ran around and looked really anxious. I had to cup him in my hands and bring him back into his cage since he couldn't fly up. After the indecent he acted like he usually would and played with his toys. I'm really worried though that I won't be able to take him out of the cage. Thank you for helping me out.