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What do following phrases goofing it up and got herself up mean and what is the function of up here?

When she tried to be a person she came pretty close to goofing it up. There was never anybody on land or sea like Mrs Whatsit the way she got herself up.’

A Wrinkle in Time by Madeleine L'Engle

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There is not much context to these sentences you have posted.

Goofing up is a phrasal verb which means to fail to do a particular thing.

For example,

We tried to explain our proposal to the jury, but James goofed up his part.

Picking up oneself means to put behind any failure or hardship and come back.

Ming Xi picked herself up well after her fall on the Victoria's Secret runway.

Hope this helps.

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