"I can pick it up later" or "I can get it later"

Hi everybody!

When I was watching a dialog and practicing english, I noticed these two sentences being used at almost the same situation. A character had lost her purse, then she called home and the person who answered the phone said that her purse was on the table.

Could someone help me about the difference among these two phrases?

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Pick it up : collect something that has been left elsewhere. Escolher algo ou alguém
Get something from somewhere : to take something with you. levar

In my opinion "pick up" focuses on the action of taking the object whereas "get something" focuses on the action of getting.