Madonna's "Like a Prayer" - confusion over lyrics

In the lyrics, what does Madonna mean when she sings "I wanna take you there"?

Life is a mystery, everyone must stand alone
I hear you call my name
And it feels like home

Chorus:

When you call my name its like a little prayer
Im down on my knees, I wanna take you there
In the midnight hour I can feel your power
Just like a prayer you know Ill take you there

I hear your voice, its like an angel sighing
I have no choice, I hear your voice
Feels like flying
I close my eyes, oh God I think Im falling
Out of the sky, I close my eyes
Heaven help me

(chorus)

Like a child you whisper softly to me
Youre in control just like a child
Now Im dancing
Its like a dream, no end and no beginning
Youre here with me, its like a dream
Let the choir sing

(chorus)

Just like a prayer, your voice can take me there
Just like a muse to me, you are a mystery
Just like a dream, you are not what you seem
Just like a prayer, no choice your voice can take me there

<<Im down on my knees, I wanna take you there >>

Um...are you serious?

Use your imagination :|)

Madonna's child?
...as...Jesus?

<<In the lyrics, what does Madonna mean when she sings "I wanna take you there"?>>

I'm down on my knees, I want to take you there.

That's a poetic version, that "you" is used to convey a more complete idea of the body and/or her love for her partner.
The more idiomatic version in everyday English would be:

I'm down on my knees, I want to take it (right) there.

<<I'm down on my knees, I want to take it (right) there. >>

As opposed to taking it in the mouth