Early Quenya
lep-
verb. to take
lempe
cardinal. five
tyúte
noun. thumb
There are more words but they are from Tolkien's earlier conceptional periods. Tolkien likely changed these words as he evolved the aesthetics and completeness of the languages. You may even find languages that Tolkien later rejected. Do not mix words from different time periods unless you are familiar with the phonetic developments.
Below: Tolkien's Late Period (1950–1973). These are from Tolkien's late conceptual period — his most settled forms of the languages. Prefer these over the earlier ones above when composing new text.
A verb appearing in Qenya Verb Forms from the 1910s as ᴱQ. lep- “take” (PE14/28), clearly based on the early root ᴱ√LEPE having to do with fingers (QL/53).
Neo-Quenya: This root was still the basis for finger-words in Tolkien’s later writings, and in notes from the late 1960s, √LEP was glossed “pick (up/out) with the fingers” (VT47/24). As such I would retain this as the verb for “take”, but more specifically “take (with fingers)” so closer in meaning to “✱pick, pluck”.