Train from Saint Pierre des Corps to CDG airport help please

When you arrive at the CDG TGV station, just follow the Taxi signs. ONLY use the official taxi queue, which will be signed, outside the terminal doors.

Thank you!

We got on the train there from the airport. I didn’t notice a different way to leave the area other than the airport.

You are taking the train to the airport, correct? Just follow the signs to the terminal and then follow the exit signs. Official taxis at CDG are listed at https://www.parisaeroport.fr/en/passengers/transport-parking/taxi/cdg; scroll down to "Where can I find a taxi at Paris-Charles de Gaulle Airport (CDG)?" To get a taxi is pretty much going to be the doing the reverse of what you did to get to the train so you end up in the closest terminal and then you look for the appropriate exit. If you are taking the taxi back into Paris, you might want to consider taking a train from Saint Pierre des Corps to central Paris instead of the airport. If you are not going into Paris, please note that the fixed fares are only for trips between the airport and Paris.

If I remember correctly, you need to go to one of the terminals. The closest one is Terminal 2D. From there, follow the official taxi signs and never accept a ride offered by someone on foot.
If your destination is in the airport, you cannot take a raxi. You need to take the cdgval (for terminal 1, 3), a bus (2G) or go by foot (2A, 2B, 2C, 2D, 2E or 2F).