。
My parents made me go there.
Literal
Parents [topic-は] me [to-に] there [toward-へ] made-go.
行かせた is the causative of 行く — here meaning 'made me go' (coercive). The causative ~させる is ambiguous between coercion and permission; context determines which. This sentence, with に marking the person caused to act, reads as coercive.