Both of these words are verbs, and you can bring something to someone, or you can take something from them. The usage depends on the location and the direction of the speaker, and the meaning is dependent on the point of reference.
For example, someone could say, “I am thirsty, bring me a glass of water.” You have to deliver something to someone. You don’t keep it or take it. You could also say, “Bring me to the movies.” In this instance, you are actively taking someone somewhere. You could say, “Take me to the movies.”
In this example, the words bring and take can be used interchangeably. You could say, “Take this coat and put it into the closet.” This statement provides the image of you getting the coat from the person and putting it into the closet for them.