Я пригласил её в кафе на нашем втором свидании.
This is perhaps the most common/acceptable way to say it in Russian, though technically not an accurate translation. А more straightforward translation would be: "На втором свидании я сводил её в кафе", not "взял её", because if you say "взял" that would rather mean that you were going to the coffee shop anyway and just took her with you, which is not quite what happens when you have a date and invite your date somewhere.