when you say he landed on the brush do you mean the brush or the handle of the brush? definitely try to get him a clean, even just a bath in a bowl should clean him up. In an extreme situation where there is a danger and they refuse to step up then yes a towel should be used. Although I often just say to hell with my safety and live through the bites. Thankfully they're smart enough as creatures not to eat another creature's poo so the odds of ingesting something are extremely low, just keep an eye on them for a while just to monitor any changes in health. Deep breathes now, the scary part's done!
For the future I suggest teaching them to step-up on a perch. Preferably one from their cage, you'd be amazed how readily they will step on to a perch they know even when scared.