If you know where I was taken, then click the title and comment, please!

The jokes on me so there you are.

You took me, and not in a car,

Not in bus but for me, fuss;

You could have me'd were it not us.

The opposite, were I to stop my goof;

I'd be aloof.

'Were you taken in a hot-air balloon?'
'No, I was not.'
'Were you taken in a yellowish submarine?'
'That is also not what I was taken in. Now I'm going to stand over there.'

Riddle Answer A Fool

Riddle Explanation
you took me, and not in a car, not in a bus for me - to take someone for a fool.

you could have me'd were it not us - you could've fooled me.

the opposite, were I to stop my goof; I'd be aloof - a fool, opposite in behaviour and spelling.