Spin pumping and spin-transfer torques are two reciprocal phenomena widely studied in ferromagnetic materials. However, pumping from antiferromagnets and its relation to current-induced torques have not been explored. By calculating how electrons scatter off a normal metal-antiferromagnetic interface, we derive pumped spin and staggered spin currents in terms of the staggered field, the magnetization, and their rates of change. For both compensated and uncompensated interfaces, spin pumping is of a similar magnitude as in ferromagnets with a direction controlled by the polarization of the driving microwave. The pumped currents are connected to current-induced torques via Onsager reciprocity relations.