Here are some alternative ways to phrase it, depending on the formality:
More formal:
* "Would it be possible for me to come to your place on Friday?"
* "I would like to come to your place on Friday. Would that be convenient?"
More informal:
* "Can I hang out at your place on Friday?"
* "Is it cool if I come over to your place on Friday?"
Ultimately, the best way to phrase it depends on your relationship with the person and the situation.