Agree with Julio; they're both correct. Interestingly, asking "which one is correct" when either both or neither are correct is what's known as a "false dilemma".
"I have to get her home" is about state, or condition, rather than process or action. Her state is either "at home" or "not at home". So this means "I need to make her state equal to 'at home'".
"I have to take her home" is about process, or action. You're focusing on the process of taking her home. That is the process you need to carry out.
When teleportation is invented (hopefully sometime this year :P), people will say "get her home" much more often than "take her home". :)