took, grabbed
Tom le pidió a Mary que cogiera el teléfono.
Tom asked Mary to pick up the phone.
No conozco a Dorothée, pero me alegra que no cogiera usted la varicela.
I don't know Dorothée, but I'm glad you didn't catch chickenpox.
— La noche americana (1973)
Cuando cogiera tu mano, tu reacción sería esa.
If I were to take your hand, that would be your reaction.
— Old Boy (2003)
Le pedí que me cogiera sobre las cuatro.
I asked him to pick me up around four o'clock.