This is a double definition - the clue gives two different ways to describe the same answer, connected by 'and'.
Look for a phrase that means both 'invite to relax' and 'steal from church'. Think about what you might take or steal specifically from inside a church building.
Answer: TAKE A PEW | This works as both a literal interpretation - 'take a pew' means steal a church bench, and figuratively - 'take a pew' is an invitation to sit down and relax.