Two common words for "to pick up" are the verbs 집다 and 줍다. Both of them mean "to pick up," and both of them are equally as common. So you'll need to learn how to use and conjugate both of them.
I'll talk about what each means, and when you'll want to use both of them in this week's episode of "Korean FAQ." This series is where I answer common Korean questions, or small tips for Korean that you might not find anywhere else.