A lot of English learners have a problem with this. Here's the answer:
We ask people to bring things to the place where we are. Bring is used in relation to a destination:
"Bring some food to the party at my house."
"Bring your homework to me"
"Please bring your bag here."
We take things to the place we are going to. We take them from the place where we are to another place. Take is used in relation to a starting point.
"I'm going to take some cake to Paul's house for his birthday party."
"Take your dog away from me."
"Please take your bag there."