The easiest way would be to just sling her up in his arms, but that's also perhaps the worst possible thing for her back, and if she's already having trouble with walking, that's certainly not an option. Which leaves-

There's a bit of shifting to be done, Jellybean is transferred to one hand despite her protests on the matter, and then he's taking a knee, shrugging his shoulder to motion her over. Back, he can definitely do back or shoulders, that shouldn't jar her too badly.