A pipe handler for handling tubular members of a well system includes a mounting member for mounting the pipe handler to a structure of the well system, a first arm having a first end coupled to a structure of the well system, and a second end, wherein the first arm is configured to pivot relative to the mounting member about a first axis, a second arm having a first end and a second end, a connector coupled to the second end of the first arm and the first end of the second arm, and wherein the connector is configured to rotate the second arm about a second axis and a guide member coupled to the second end of the second arm for guiding a tubular member, wherein the second arm is configured to pivot relative to the connector about a third axis.