To Invite
する verb
You beckon someone to come to you, but then you wait. This is because they aren't really near you, so your beckon is more like an invitation. That's why this word means to invite .
招待する is a formal word for inviting someone, particularly to formal events or places.
This is a jukugo word, which usually means on'yomi readings from the kanji. If you know the readings of your kanji you'll know how to read this as well.
どのお友達を誕生日会に招待するか決めましたか。
Have you decided which friends to invite over for your birthday party?