Well, in spite of the use of both sentences, in strict Spanish grammar the correct sentence is the first one without any doubt.
The verb "ir" modifies its meaning according to the preposition placed next to it, in this way:
IR PARA : Means to go from a place to another. The thing is that it has to be used as intransitive sentences, this is when the sentence DOESN'T have any Direct Object. It's important to say that a direct object is the part of the sentence that answers the questions : "what?" or "who?"
For example: Voy para allá. As you can see there's no direct object as you cannot distinguish any part of the sentence that can answer the question what or who.
IR A: It means "to go to". This verb form works with transitiviness, it means that it accepts a direct object so there's a part of the sentence that answers to the questions what or who.
For example: Voy a Madrid a ver a mis amigos. This sentence can answer the following question:
¿QUÉ voy a ver a Madrid?
Answer: ¡A mis amigos!
So this is a very clear example of verb transitiviness, in consequence, the correct one is the first sentence in your text.
I hope my answer helps you.