To come (to someone's place) to visit casually or drop in; to come and spend time (contrast with 'go to visit').
週末にうちへ遊びに来る？コーヒーでも飲もう。
Do you want to come over to my place this weekend? We can have some coffee.
友達が急に遊びに来たので部屋を片付けた。
A friend came by unexpectedly, so I tidied the room.
東京に来たら、ぜひ遊びに来てください。
If you come to Tokyo, please drop by and visit.