The National Center for Children and Families on Greentree Road will pick up from your home, but they also have a drop off area in the back of the main building.
We always try to donate to these folks. Great charity that does great work. A lot of the truck outfits are the sorts of outfits that spend more on their fundraising than their programming. (Purple Heart, I'm looking at you.) Check the organizations on Charity Navigator if that matters to you.