Spending time doing nothing in particular; idling or wasting time without purpose or urgency.
From the noun 'loaf,' which may derive from the German 'laufen' (to run) in the sense of running around aimlessly, or be related to 'loafer.' Emerged in American English in the 1800s.
A loafer is a shoe, and someone loafing is wandering around—both words might come from the same root meaning 'to run around aimlessly,' so loafers are literally the shoe for people who loaf!
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