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The above is a list of the verbs of giving and receiving.
さしあげる・やる：さしあげる is used when the receiver of an object is "above" the speaker(i.e., older and/or higher in social status than the speaker). やる is used when the receiver is "below" the giver, as in the case of giving something to children, younger members of a family, or animals.
いただく：いただく is used when the receiver is the speaker(or the speaker's in-group member) and the giver is "above" the receiver.
くださる：くださる is used when the giver, the subject of the sentence, is "above" the receiver, who is the speaker or the speaker's in-group member. Note that the masu-form of this verb is くださいます.
わたしは先生に絵はがきをさしあげました。 I gave a picture post card to my teacher.
わたしは弟にＴシャツをやりました。 I gave a T-shirt to my younger brother.
先生はわたしに本をくださいました。 My teacher gave me a book.
わたしは先生に本をいただきました。 I received a book from my teacher.
わたしは先生から本をいただきました。 I received a book from my teacher.