So, it's definitely a action to pick them up (although you might allow picking them up and throwing them as a single action). And if they carry them somewhere that's a movement action.
In terms of checks, that depends:
If the other player is resisting, that's a grapple check
If you're trying to throw them somewhere, that's an athletics check with difficulty dependent on the weight and distance
If they're trying to do something that is outside their carry/lift limits (see https://www.dndbeyond.com/compendium/rules/basic-rules/using-ability-scores#LiftingandCarrying) you might allow that with an athletics roll (assuming it's reasonable. They can't lift up something 10x above their limit) with the difficulty being set based on how far outside their limits they're going. To use a weightlifting analogy, I would think of the max values on that page as something they might do for 3 sets of 8 reps. But that doesn't mean they couldn't do a higher 1 rep max... but there's a chance of failure. That's my interpretation of that rule so yours may differ and feel free to do what makes sense for your game.
The overall rule I would apply is "is there a chance of failure"? If I try to pickup a baby, I'm going to succeed. If I try to pickup my friend I'm going to be able to succeed but I'll be slowed like described in the page above. If I try to pickup a heavy beam off someone in a fire (if I were for some reason in that situation, which seems unlikely) I might be able to do it (yay adrenaline), but there's no guarantee. And if I try to benchpress a car, nothing is going to happen.
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If a player wants to pick up a party member and move them, would you consider that an action? Any checks?
So, it's definitely a action to pick them up (although you might allow picking them up and throwing them as a single action). And if they carry them somewhere that's a movement action.
In terms of checks, that depends:
The overall rule I would apply is "is there a chance of failure"? If I try to pickup a baby, I'm going to succeed. If I try to pickup my friend I'm going to be able to succeed but I'll be slowed like described in the page above. If I try to pickup a heavy beam off someone in a fire (if I were for some reason in that situation, which seems unlikely) I might be able to do it (yay adrenaline), but there's no guarantee. And if I try to benchpress a car, nothing is going to happen.