Pick something up: take or lift something off the floor (or a chair, etc)
手に取る：床やいすなどから物を持ち上げる
Sam: Can I pick up that guitar and play something?
サム：ギターもって何か弾いても良いかな？
Yuri: You know how to play guitar? Wow…okay! Go for it.
ユリ：ギターの弾き方分かるの？わぁ、良いわよ。やってみて
