You can say this in natural Hindi as:

“हमें लेने कौन आने वाला है?”

Pronunciation (approx): Hamein lene kaun aane wala hai? This literally means “Who is going to come to pick us up?” and is the most common, natural way to ask this in everyday conversation. A slightly more formal version (for elders or polite situations):

“हमें लेने कौन आएगा?”
Hamein lene kaun aayega?

Both are correct; the first feels a bit more conversational, the second a bit more direct and formal. Mini examples:

  1. “I don’t know who is going to pick us up.”
    → “मुझे नहीं पता हमें लेने कौन आएगा।”

  2. “Do you know who is going to pick us up?”
    → “क्या तुम्हें पता है हमें लेने कौन आने वाला है?”

If you tell me the exact English sentence you want to use (like “Who is going to pick us up from the airport?”), I can give you the precise Hindi version for that too.