Japanese slang similar to "kickin"?

Question:

You know how in English people say "Let's kick it" as in I guess, "Oh hey, let's do this!".
Or...another example "Kickin it in the basement"
Sort of like "Relaxing/hanging out in the basement".
or "Kickin in the front seat" ie. "Relaxing in the front seat"

What's a Japanese equivalent for this slang?

Answer:

"Relaxing/hanging out" →「ぶらぶらしてよう」「だらだらやしてよーぜ」「グータラしてよう」
"だらだらする"　"だらだら過ごす" → linger out
http://ejje.weblio.jp/content/%E3%81%A0%…