Check the ‘What's included’ section on the experience page to know whether an experience includes pick-up.
Please note that you may be required to provide your hotel address and contact details to the experience's organizers, even if pick-up is not included. This way, they can easily get in touch in the event of an itinerary modification.
When you make a new booking, click on "check availability", and if pick-up is provided, you'll see a list of available pick-up locations (hotel or generic).