challenge (someone) to (something)
To dare or provoke one to participate in something, such as a competition. I ushered Bob out the door as soon as that obnoxious guy challenged him to a fight. Jenna is really good at basketball, so don't challenge her to a game unless you're OK with losing!
challenge someone to something
to dare someone to do something; to invite someone to compete at something. I challenge you to a round of golf. Jerry challenged us to a debate of the issues.