Going Somewhere to Do It (に + 行く・来る・帰る)

飲む becomes 飲みに, 取る becomes 取りに, attaching to the same verb stem you’ve used for たい, たがる, and すぎる. The destination takes へ or に as usual; the purpose sits right before 行く/来る/帰る as its own separate piece.

する-verbs drop する entirely before に, leaving just the noun, カラオケをしに行きます can be shortened to カラオケしに行きます in casual speech, though both are used. This pattern is extremely common for describing errands and outings, one of the most natural ways to explain why you’re headed somewhere.