Quote Originally Posted by Zubr
I'd say that you us the preverb от when you mean "take someone or something somewhere". So you say
Отнести книгу в библиотеку.
Отправить письмо.
Отвезти больного к врачу.
Отвести детей в школу (= пешком).

Also I want to add that you need to be careful not to confuse от with other preverbs carrying a similar meaning. For example увести also means "take someone somewhere" but you use it in different situations. I think (please Russians correct me) that you say «Мама увела детей в другую комнату, так как они слишком шумели» but «Мама отвела ребёнка к его другу».
Yes, it's correct.
However, sometimes, the word "увела" means "stole, lured".
And the phrase "увела моего парня" means "she took my boyfriend".