When we're walking around at the park or another relaxed environment there are a range of ways I'll hold hands with little kids. A common one is that I'll extend a single finger, and they'll wrap their hand around it. But when we're crossing the street, climbing stairs, or I otherwise might suddenly need to hold them up entirely, I additionally wrap my fingers loosely around their wrist:

Another angle:

The specific hold isn't that important: what matters is that it's comfortable for you both and if you had to you could really hold on. Julia finds that with the smaller size of her hands a different grip works better:

I suspect many of you are thinking "of course, how else would you do it?" Many parents end up doing this pretty naturally. But if you currently are choosing between a friendly but weak companionship grip and securely holding their wrist this could be a nice thing to try!