My 6 week old cries when I hold her

So my daughter cries when I pick her up or hold her and whenever my mom does too. But when her aunt- my sister picks her up she stops crying and positions herself on her chest and falls asleep shortly after. I have tried holding her like she does and sometimes like 1% of the time she will position her self. Also when my mom holds her like that she cries but when she holds her another way she stops. With me I have tried holding her several different ways like my sister and Mom does and she still cries. Is this normal? Has anyone experienced this? We all live together under the same roof and take turns at night when she needs to be fed and changed and put back to sleep.