The cost for UPS to pick up a package from you is around $6.00 to $11.00 depending on the package and whether it's a regular delivery or next day delivery.
For UPS to pick up a package you need to go to the UPS website and schedule a pick up from UPS and then they will drop by when they're in the area.
However if UPS is delivering a package to your address then you don't need to schedule the pick up and can just hand it to the UPS driver when they deliver a package to your address.