How To Pick Up Dog Poo

Always carry more than one bag.
If you can't bring yourself to handle the poop, even through a plastic bag, purchase a commercially made "Pooper Scooper." These usually consist of a handle on one end of a long arm, with a double-sided shovel on the other end.
When picking up with a plastic bag: On Concrete, gingerly lift the poo directly up from the surface to leave as little behind as possible. On grass, make a claw like circle with your fingers-get as far under the poo as possible, then lift.
Plastic grocery bags work great for picking up dog poop. These bags do sometimes have a tear or two, so it helps to use two bags - one inside the other. This way the odds are extremely small that there will be two holes in the same location and you are almost guaranteed not to get poop on your hands. Using two bags also has an insulating affect so that you don't feel the heat from the poop as much. And it also works better in keeping the smell down.
Holding your breath until you've picked up the poop and tied a knot in the bag(s) helps a lot.
You can make your pet's poops more tolerable to yourself by better choices of pet food- too much canned meat makes the poops more malodorous and looser, while better dry foods such as Nutro will make the poops smaller, drier, and MUCH less smelly; feeding only dry foods also helps keep teeth cleaner and gums in MUCH better health, which helps to extend life span.
Assert yourself when you see an irresponsible or unprepared pet owner who fails to pick up their pet's poop by offering them one of your own extra bags, and if they don't take the hint then tell them bluntly that unless everybody does their share to avoid making public nuisances of their pets, then all pet owners alike will suffer from the inevitable public outrage and resulting pet limitations.