לֶאֱסוֹף (leh-eh-SOHF) means, literally, to gather. In Hebrew, it's also to mean to pick someone up (i.e. from work, not on a date - that's לְהַתְחִיל עִם... - le-haht-HEEL eem... - to start with...).
An American mother might say I need to pick up the kids.
An Israeli mother would say אֲנִי צְרִיכָה לֶאֱסוֹף אֶת הַיְּלָדִים (ah-NEE tsree-KHAH leh-eh-SOHF et hah-yeh-lah-DEEM).