loiter

Short definition from Wiktionary

Verb

1. 1
   To stand about without any aim or purpose; to stand about idly.
2. 2
   To stroll about without any aim or purpose, to ramble, to wander.
3. 3
   To remain at a certain place instead of moving on.
4. 4
   For an aircraft to remain in the air near a target.

Noun

1. 1
   A standing or strolling about without any aim or purpose.