To go up into a house (by a ladder or stairs); to board (a plane, bus, boat, etc.); to get up on a horse or cow.
Board (the launch) now and then we can get going.
Get up on if you're going with me on the horse.
To allow or tell s.o. to board (a plane, bus, boat, etc.) or come up into (a house, tree, etc.); to bring s.t. up.
Bring up some coconut shells so I can cook some rice.
We weren't even allowed to come up into their house.