My first question is "what handle material is it?" If it's a tough material like Micarta, you can drill the holes undersized and they will get such a tight fit that peening shouldn't be necessary. Since you mention chipping, it sounds like you're using something more fragile. Epoxy helps, too, but I wouldn't rely on it.
You can get one side peened over by drilling a slight countersink, resting the pin in the hole against a flat metal surface (the side that will face out flat against the "anvil") and striking the other end of the pin to drive it against the anvil and thus expand into the countersink. Then clip the pin and peen the other end normally. Countersinking is important or the pin will fill into a very shallow, fragile head. Don't underestimate the value of a mirror-polished pein on your hammer! This lets the pin material flow smoothly (plus polishing the pein is a true joy because it's rare that a knifemaker gets to polish a homogenous round surface.)
In peening, you can do just as much with many tiny blows as with fewer heavy ones. If it's a fragile material, just slowly "mold" the pin with little taps instead of driving it like a nail. There's no pressure to do it fast.
A final technique might be to drill a slight depression into a hard piece of metal and rest your pin over this, so that it is driven into the depression to expand without undue force on the material being pinned. Just a thought, as I generally avoid the really fragile stuff so far. Good luck and keep us posted.
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-Drew Gleason
Little Bear Knives