I'll come by to pick you up at 7 tomorrow morning.

Literal

Tomorrow [possessive-の] morning 7-o'clock [at-に] inviting [to-に] drop-by [assertive-よ].

誘いに寄る = 'drop by to invite/collect [you].' Uses the purpose に + motion verb pattern with 寄る ('drop by'). The final よ adds informal assertion — 'I will, you know.' A casual offer between friends.