。
She asked them to please take off their shoes.
Literal
She [topic-は] them [to-に] shoes [object-を] please-take-off [quotative-と] requested.
A direct request preserved verbatim by と頼む — '(she) asked, saying "please take off your shoes".' The quoted material uses ~てください ('please do'), the standard polite imperative. Removing shoes indoors is a near-universal Japanese custom: at homes, traditional ryokan, temples, some restaurants, school classrooms. Asking visitors to take off their shoes is routine; outside Japan it can be a noticeable cultural moment.