
To be honest he should never have been picking him up, as you say as he gets older he won't like it.
Dogs will put up with being picked up and some may like their owners that they trust doing it, but children is another matter.
They haven't the same status or entitlements in the dogs eyes to the adults in the household. They can also pester or hurt the dog inadvertently.
You should train him to come when called and sit nicely to ahve his lead put on, with a treat for doing it nicely. You could then progress to doing thid but have your don give the treat, and then wehn he is hppy then progress to letting yoru son attach the lead, as he will know the treat will follow so he will tolerate the perceived indignity. This should all be done on the ground.
You could supervise very short training sessions between the two, this will build trust and a better relationship between them of mutual respect.