It would certainly make more sense if you two just stayed here for dinner.

The two of you can just stay here for dinner.

My mother began spending her days in town and staying for dinner.

If Saturday night's is more typical, then by all means stay for dinner.

And if you happen to be asked to stay for dinner, say yes.

"I thought perhaps you would wish to stay for dinner," she said.

An hour at each stop, and maybe someone along the way would suggest staying for dinner.

He spent the afternoon with her and stayed for dinner.

"Now that business is over, would you like to stay for dinner?"

"Will you stay for dinner, once this is fully taken care of?"