For some reason, at the moment, the option "bring sims-name here" doesn't seem to be available when your sim comes home from work. I think it was the December patch that changed this. You used to be able to click on a little shape above the inactive sims face and could control them to a certain level while they were at home and you were at the park (or where ever) with another sim.
I now take the out-and-about sim home, collect the at home sim and then both travel back to the park etc.
If you just simply travel with one sim while leaving another at home, all those options (including 'bring sim here') are still available. It just seems to be when a sim arrives home from work and you are out. (Maybe also when a child comes home from school but I'm not playing with any school aged children).
