Fetching details from the dictionary...

to drop in (at); to drop by; to call at; to stop by; to stop off; to stop in
帰りにコンビニに立ち寄って買い物をしました。
I stopped by a convenience store on my way home.
帰り道にあの書店に立ち寄った。
I stopped by that bookstore on my way home.
彼は毎朝同じ喫茶店に立ち寄っている。
He stops by the same café every morning.