An infant may often get distressed during a feed. Sometimes, the baby pulls away, squirms or cries. This may be due to air entrapment in the baby's tummy, making them fussy. Burping helps to relieve these signs. Since their gut is not fully developed, you might need to induce a burp. The following ways may help.
Hold baby against your chest or shoulder. Then lightly rub their back.
Sit the baby on your lap, facing away from you. One hand against their chest, rub the back with the other hand.
Lay baby face down across your lap. Ensure their head is not lower than the body. Rub their back.
During any of these methods, take care to support their head and neck. Also you might want to put a bib for your baby or a cloth over your shoulder/back/lap to collect the spit up.
Burping not only makes the baby comfortable but also prolongs feeding.