Make a mistake and trip (6)
I believe the answer is:
errand
'trip' is the definition.
(errand is a kind of trip)
'make a mistake and' is the wordplay.
'make a mistake' becomes 'err' ('err' can be a synonym of 'make a mistake').
'err'+'and'='ERRAND'
(Other definitions for errand that I've seen before include "Journey made on someone else's behalf" , "Short journey to carry message for Renard" , "Charge - mission" , "Task, message" , "Task involving trip" .)