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Vamos a coger un taxi.

Vamos a coger un taxi.
We are going to take a taxi.
From Lesson 70:Public Transport·Spanish (Spain)

Breakdown of Vamos a coger un taxi.

un
a, an, some
ir
to go
a
to
coger
to take
el taxi
the taxi

Questions & Answers about Vamos a coger un taxi.

Why is there an 'a' between vamos and coger?
To say you are going to do something in the near future, Spanish uses a set formula: the verb ir (to go) + a + the basic dictionary form of an action verb. Here, vamos is the 'we' form of ir, so vamos a coger means 'we are going to take'.
Where is the word for 'we' in this sentence?
The Spanish word for 'we' is nosotros, but it was left out here. Because the verb vamos specifically means 'we go' or 'we are going', it already tells the listener exactly who is doing the action.
I have heard the word coger is offensive. Is it safe to use it here?
In Spain, coger is a completely normal, everyday verb meaning 'to take' or 'to catch' (like a taxi, bus, or train). However, in many Latin American countries, it is strong slang and people use tomar instead. Since you are learning the Spanish of Spain, coger is the standard and correct word to use here.
Does vamos translate to 'we go' or 'we are going'?
It can translate to either! Spanish often uses the simple present tense (like vamos) to mean both a general habit ('we go') and an action happening right now ('we are going').

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