C.B.
My daughter did this when she was 2. I went to her room, rubbed her back and she went right back to sleep. Eventually, I just let her cry it out (which lasted about 5 min) because she was not learning how to self soothe. I think it would probably be best not to take her out of her bed because that may wake her up even more.
Of course, we had super bad nights when she just plainly needed me and was not going to go back to sleep, she was just more upset than I've ever seen her and I either let her sleep on my floor or let her fall asleep in my bed and then moved her to the floor. Every few days I'd let her fall asleep in my bed and then move her and she never woke up in the middle of the night on those nights. She's four now and we still go through that some times. I figure, they're only little for a short time, they won't always be asking for us and we should enjoy and take advantage of their babyness now before they grow out of it. :)
Of course I'm not saying to coddle, but of course, listen to what she's really needing, either just a little comfort when she wakes up, or full mommy support for a night.
Good luck :)