wpaść do kogoś na chwilę in inglese:

I just have to stop by my place.

If you ever pass my house, please stop by for a chat.

Can you stop by my office?

Could you stop by the store on the way home for some bread?

I need to go because I have yet to stop by the kindergarten on my way to work. I will stop by the office today to drop off the documents you need, ok?