It all depends on what breed they are. It is safest not to touch them until the mother coaches them out of the nest. Some rabbits will eat their young if they smell your scent on them.
When my pet rabbit had babies I was advised to wait 6-8 weeks BUT this was then to prevent you mummy rabbit eating the babies speak to your vet they will usually advise you for free, If this is not practical there are various sites where you can post questions to vets.
ive found that if you wait one week then remove the doe rub your hand in the straw near to the nest then pick up the kits be careful not to squeze them i found that if you do this every two days or so they will get used to being handled