Firstly, you shouldn't be using a drill chuck to hold taps. Unlike drills, taps are hardened throughout and the chuck jaws can't "get a bite" on hardened steel. Tightening the jaws enough to hold the tap also risks damage to the chuck jaws.
There are many options. A spring-loaded tap guide, e.g.,
https://www.amazon.com/Brown-Sharpe-...ords=tap+guide
held in the chuck will guide the typical T-handle tap wrench.
Much easier to use is the piloted tap wrench...
http://www.waltontools.com/catpdfs/old/tapper.pdf
or you can convert a non-piloted wrench to a piloted model as I did here...
http://www.homemadetools.net/forum/t...uide-pin-39232
For the smaller taps or if headroom is scarce on the mill there are a variety of homemade wrenches you can make...
http://www.homemadetools.net/forum/tap-holders-26298

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