"take us up" is correct and usable in written English.
It is usually used as an imperative (command) to mean "bring us up". For example, "Take us up to the top of the mountain for a better view".
"The master used to take us up around the table and I stuck a pin in a girl.
They should take us up on it".
"Now, everyone doesn't always take us up on the offer".
We hope they take us up on our offer.
"My father would take us up to the Newport Jazz Festival," Lee told me.
We hope that many will take us up on our challenge.
We parked, and Yonas hired two teen-agers to take us up into the mountains for three U.S. dollars.
"They are beginning to take us up on the offers," said John Marz, a senior vice president of Mandalay.
I also have questions about the sustainability of the system; after all, these proposals only take us up to 2020.
We want you, our readers, to nominate the extra 10 to take us up to 21 (in 21 million).
I barely had time to down bags there before Allan's Land Rover was waiting outside to take us up into the mountains.
