It would be great if it was possible for the player to be able to "take" an NPC.
A little boy could be picked up, or a female carried across the doorstep :-)
You could create a "[take/get/pick up/carry] %character%" task.
There is an action to put a character "ON" another character (such as a parrot on your shoulder) but this is not mentioned in any of the descriptions.
If polly is on pete, you just get the message "Polly and Pete are here".