“捡起”的英语可以翻译为：pick up ...

他捡起一支铅笔，无所事事地摆弄着。He picked up a pencil and toyed with it idly.他捡起刀子递给我。He picked up the knife and gave it to me.我捡起他的棒球棒朝那个人的头打去。I picked up his baseball bat and swung at the man's head....