Too much work

My friend called. The biggest issue is that I want to terminate this friendship of many years and am not sure how to do it, without hurting her badly. She wants to arrange a lunch date and a trip to the grocery store. She didn't ask me if I wanted to go, just asked which day off would work. Hard to resist her manipulations but I did not agree to anything. It is so much work to take her around. Stop near the door, drop her off, park the car, same to pick her up at both the restaurant and the grocery store. Exhausting!