Escápate is the imperative form of the verb escaparse, meaning 'to escape' or 'to run away'. It's a direct and exciting command.
In this song, Luis Coronel uses it to passionately urge his love interest to leave everything behind and join him for a spontaneous romantic adventure. He's not just asking her to come over; he's inviting her to 'escape' with him, adding a sense of urgency and thrill to the invitation.
"Escápate" is a breathless late-night invitation: the singer is parked outside, giving the person he's singing to only a couple of minutes to slip away with him. He promises a whole night together — the back seat of his car standing in for a hotel room, a stretch of highway standing in for anywhere far away — and pushes for an answer before sunrise. It's a young, impulsive kind of romance, more about the rush of sneaking off together than about any specific destination, which fits Luis Coronel's early-2010s norteño-pop sound aimed at a teenage audience discovering first love (and first curfews) at the same time.