Half of us take it to rest (3)
I believe the answer is:
sit
'rest' is the definition.
(thesaurus)
'half of us take it' is the wordplay.
'half of' means to take half the letters.
'take' says to put letters next to each other.
'us' halved is 's'.
's'+'it'='SIT'
'to' is the link.
(Other definitions for sit that I've seen before include "Be sedentary" , "Rest on one's haunches" , "Brood" , "Model" , "Take a chair" .)