If your host mother will let you come out with me, I'd like to go to Asakusa with you.
If it's okay with your host mother, I'd like to take you to Asakusa.
この場合、次のような言い方ができますよ。
ーIf your host mother will let you come out with me, I'd like to go to Asakusa with you.
「もしあなたのホストマザーが私と出かけさせてくれるなら、一緒に浅草に行きたい」
ーIf it's okay with your host mother, I'd like to take you to Asakusa.
「もしあなたのホストマザーがオッケーなら、あなたを浅草に連れて行ってあげたい」
ご参考まで！
カナダ 
