How would little children ask their parents in English to hold them with their hands in such a way that the children are fully in the parents' hands and are not touching the ground with any part of their body?

I was thinking of "Mommy, please, hold me with your hands", but then I thought that one can be held with hands (by someone) while still standing on the ground - like hugging.

My second guess was "Please, carry me with your hands", but carrying implies not only holding something or someone but also walking, while what I want to describe is a situation, in which the parent would be standing (like, for example, a mother and her daughter are standing and watching a street clown's performance and the girl can't see the clowns because of the crowd, she asks her mom to hold her with her hands).