He said to me, Let us go home together". Which is the indirect form of the sentence?

He said to me, Let us go home together". Which is the indirect form of the sentence?

• He proposed to me to go home together. (Incorrect)
• He proposed to me that we should go home together. (Correct)
• He asked to me to go home together. (Incorrect)
• He urged me to go home with him. (Incorrect)