He was a bit scared and didn't really want to fly, so I grabbed this long stick that I use to open the skylight, opened the skylight with it, and then let him hop on the stick, and lifted him out
Tldr: I got him out safely
I had a bird fly into my house once. It was repeatedly bumping up against my big window, trying to get out. I walked over and tried to pick it up and it spazzed out, so I just held my finger out. To my amazement it hopped right up onto my finger! Then I walked it outside, held it up, and it flew away! I have no idea how it knew that I was helping it, but it knew.