We study adiabatic pumping at a normal metal/class-D superconductor hybrid interface when superconductivity is induced through the proximity effect in a spin-orbit coupled nanowire in the presence of a tilted Zeeman field. When the induced order parameter in the nanowire is nonuniform, the phase diagram has isolated trivial regions surrounded by topological ones. We show that in this case the pumped charge is quantized in units of the elementary charge e and has a topological nature.