Neither.

"I made the decision to go there"

You can "make a decision to do something", "take a decision to do something", and also "decide to do something".  As Kanmuri suggests, "decide to" is the simplest option.  The other two are a little more formal but are both definitely OK.

When you have two verbs together, the second one is usually in the -ing form e.g. I avoid eating chocolate at lunch.  

There are a number of common verbs (like "decide", "want", "need") which must be followed by the infinitive form ("to + base verb").

I would say this instead:

I decided to go there. 

And it is to make a decision, instead of take.