William I, Duke of Normandy, invaded England and made himself King there in 1066.

When he died in 1087 the Kingdom of England and the Duchy of Normandy remained as two separate and distinct provinces. He bequeathed the Kingdom of England to his son William Rufus and the Duchy of Normandy to his other son Robert Curthose.

This presented many difficulties for the Norman noblemen that owned lands in France and England and thus owed fealty to both William and Robert. Added to that there were difficulties determining which Prince had precedence and who owed fealty to whom, if at all. This situation was compounded by the French King, Philip I who felt entitled to fealty from both. In short it was an untenable state of affairs.

This situation was only exacerbated over the following years as Robert instigated an unsuccessful rebellion and attempted an invasion in 1088 to drive William from the throne of England.

Finally it came to a head when William died in a hunting accident in 1100. Robert was away on Crusade at the time and his brother Henry promptly declared himself King of England.

Upon his return in 1101 Robert invaded England and landed at Portsmouth to drive out his brother as an usurper. The invasion was a shambles, badly planned and with almost no popular support. Robert was made to give up all claim to the throne of England and he limped home.

However Robert's misrule, poverty and difficult conduct in Normandy led to the first invasion in the other direction in 1105. This campaign culminated in the dramatic Battle of Tinchebray in 1106.

This saw Robert captured and imprisoned for the rest of his life and the Duchy of Normandy subsumed into the Henry's Kingdom of England where it would remain for the next hundred years.

Not sure about home soil, but the US did invade Canada (then part of the British Empire) during the American Revolutionary War.

http://en.wikipedia.org/wiki/Invasion_of_Canada_(1775)

It failed.

Also, what do you mean by a colony invading its mother country? Did the colony declare independence and then invade the mother country? At that point, it's more of a typical country vs. country war. For example, you could look at the Revolutionary War as the US versus the UK, as opposed to UK vs. rebels.

(Emperor) Pedro I of Brazil invaded Portugal in 1826 and was crowned King Pedro IV of Portugal, re-unifying the two monarchies for a month before abdicating the Portuguese throne on his daughter Maria I and returning to South America. Brazil had only become independent from Portugal in 1822.

But coming to think, the only instance of an actual (not ex) colony invading its motherland that I can think about is the rebel Army of Africa in Spanish Morocco forcing the Straits and invading Spain in 1936. The following Francoist dictatorship can be very well summed as a colonial army apparatus ruling the home country the same way it ruled the colony before that...