The second is less acceptable, at least for all normal situations, since 'there' indicates a location presumably away from both the speaker and listener.
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TakaA few minutes' walk will bring you there.If "there" was the speaker's home, and he focused his mind on his home, thinking about his family or something, feeling as if he was there, wouldn't it possible?Anything's possible. Nevertheless, 'bring' and 'there' collocate poorly.