He carried me home in his car.
He took me home in his car.
We had to carry my friend to hospital.
We had to take my friend to hospital.
Use take someone somewhere when you transport them or go somewhere with them: ‘My sister took me to the station.’
Use carry when you support and move someone or something with your hands, arms or back: ‘He carried the sleeping child upstairs.’
The purple sentence means that the friend was physically carried. If you mean that someone transported or accompanied the friend, use take.