to take (someone) with one; to bring along; to go with; to be accompanied by
to take (someone) out (for a walk, to lunch, etc.)
to bring (someone into a place); to lead into
今日は子供を連れて公園に行きます。
I take the child along.
友人を連れて新しいカフェに行った。
I took my friend to a new café.
彼女は小さな犬を連れている。
She has a small dog with her.