I had a similar situation with a chick I helped hatched only she lay stiff as a board, so shrink wrapped, her eyes were taped shut from the dried membrane and her feet were curled. I sat in front of the incubator with a towel on my lap, a bowl of warm water on top of that and a small sponge and a second small hand towel on the side. I then took her out, held her over the bowl and constantly squeezed warm water over her, gently rubbing her with the sponge till most of it was off - even her eyes. Then I quickly but gently rubbed her with the other small towel and popped her back in the incubator till she was dry and fluffy.
Just be sure the warm water is constantly flowing over her as you sponge.
I then had to tape both her feet and she is now a beautiful, 8 week old splash wyandotte. So worth it!
Good luck