Picked her up at four and I went (holding hands)

from Murs (Ft. 9th Wonder) – Baby Girl (Holding Hands) Lyrics on Rap Genius

Meaning

Murs is picking her up at 4 o'clock and taking her out.

However, he might be referring to baseball. He was hoping to get to first base. Technically, fourth base is a home run, which can be defined as sex. So he could have picked her up to have sex and then went (as in busted a load on her muck)

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