I feel a straightforward translation would not be natural..
In japanese if you want to ask someone, you should say
"一緒に旅行へ行きませんか?" Shall we go to travel?
"もし良かったら一緒に行きませんか?" Could you come with me if you want?
On the other hand if your friend ask you, you could say
"大歓迎です" You are very welcome