I agree, it's the second sentence... when you use this kind of verb form / idiom (i.e. pick up), the third-person pronoun is usually 'sandwiched' between these two words, thus: pick up = pick HER up shake up = shake THEM up break down = break IT down. etc... :)

Hello Latifa, It depends thoroughly on the context. 'to pick her up' will be the first thing to come to one's mind. In another context where 'pick' means to 'choose' ,"to pick someone to do something" , " to pick her" could be used as well.

pICK HER up

the second one.

she wants me to pick her up.