Teleport spells shouldn't be enough. It should take a Plane Shift spell to take them to the Material Plane.
A Planar Rift or a Portal should work.
If it's Golarion, they can pop up through the Worldwound.
She can remain until she decides to leave (in the same way she came) or is Dismissed or is summoned from any other place.
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I'm not entirely sure of this, but if you'd use Planar Binding a Succubus would have a chance to break free. (Especially if the spellcaster is careless.) Normally a called creature would return after completing its task or after X days. It doesn't mention how long a called creature would stay on the material plane if it breaks free. The spells duration is instantaneous, but the aforementioned X days would be reasonable too. Your Succubus would have at least 11 days to have fun. Such a deadline would result in a race against the clock for the Succubus to accomplish her goals, and for the party to stop her.
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Beyond the worldwound, there is such a thing as planar blending. Any place on the material plane that fits another plane thematically can blend with that plane, if only temporarily.
An example would be an active volcano blending with the plane of fire or a Zon-kuthon cultist's torture dungeon blending with a kyton dwelling on the plane of shadow.
This blending allows inter-planar travel.
Then you can add portals. There are permanent portals on pretty much every plane that connect to other planes. Including the material plane.
Temporary portals, such as the gate spell, could do the job as well.
Hitching a ride with another extraplanar creature who has plane shift would work.
Planar Binding does not force a creature to return. Especially if they break free before a bargain is struck. The called being gets the opportunity to return as part of the calling spell, but they need not take it.