In English, the use of "bring" vs. "take" seems closely matched with the use of "come" vs. "go". Related to your example:
Come to church with me.
Let's go to church together.
These requests are more or less the same, even though they use two different verbs with opposite meaning.
Nevertheless there is an underlying logic. Which verb you choose reflects what point-of-view from which you imagine the movement. If you picture yourself already at the church, then you can use come. If you picture yourself at another location, moving toward the church, then you use go.
In the same way bring feels like you are coming with the person to the place you want to be.
Let me bring you to church today.
Otherwise, if you feel like you are moving toward some other location, you take the person to the place where you want to go.
Let me take you to church today.
Same meaning, just different points-of-view.