My advice is this... If you don´t know what you are doing, then just don´t.
It´s good to research all aspects of raising baby birds before allowing the adults to hatch eggs, just incase the worst happens (not uncommon) and you need to take over 100%.
If there´s no problems with the parents feeding, then let them do it.
I’d like to create a good bond with this baby
Spend time with the little guy. Take him out for little sessions during the day, and introduce toys to him, offer a little millet spray, maybe he wants a little sleep on you, talk to him, all of these things will help you create a nice relationship with him. Just return him to the nest so his parents can give him some food and brood him. If you do this, I would also recommend lininc a bowl with kitchen paper, and weighing him, jot the grams on a calendar so you can monitor him closely. Also make sure his parents carry on feeding him - check his crop when you take him out and be sure there´s food in.
I recommend not to take the little one out too early in the morning, as to give the parents time to feed him.