RedGrittyBrick's excellent answer misses a spot. Goa. In 1961, India annexed Portuguese India which included the enclaves of Goa, Daman and Diu, and Dadra and Nagar Haveli. All three elements of the Indian military were utilised in the invasion and successful capture of these three enclaves.
The Portuguese PM, Salazar, ordered the Governor General of Goa, Vassalo e Silva, to fight to the last man or to hold out for eight days while he drummed up support against the invasion. Silva managed to hold out for a brief period after which he was forced to surrender as the Portuguese forces were unable to combat the aerial threat of the Indian Air Force.
The war lasted two days. India suffered 34 dead and 51 wounded. Portugal lost 31 killed, 57 wounded, and 4668 captured.
The reaction of the United States was as follows:
Referring to the perception, especially in the West, that India had previously been lecturing the world about the virtues of non-violence, US President Kennedy told the Indian ambassador to the US, “You spend the last fifteen years preaching morality to us, and then you go ahead and act the way any normal country would behave.... People are saying, the preacher has been caught coming out of the brothel.”
In an article titled "India, The Aggressor", The New York Times on 19 December 1961, stated "With his invasion of Goa Prime Minister Nehru has done irreparable damage to India's good name and to the principles of international morality."
India tried to give the invasion a different spin by calling it a police action rather than a war. So, to answer the OP's question, yes, India has invaded at least one country in the last
10,000 60 years.