You did not include the other part of the question but with some googling i think this answer is what you were looking for:
"to the grocery store" modifies drive. Because drive is a verb, that makes "to the grocery store" an adverb phrase.
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It is their friend's first time home all summer, and they want to make it special.
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Answer:
Well it depends on what you mean? Is this an English question for school?
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