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