When I come home from school I plan on dropping by the library.
This word consists of kanji with hiragana attached. Because the hiragana ends with an う sound, you know this word is a verb. The kanji itself means approach, and the verb version is to approach, to visit, to drop in and to stop by.
Since this word consists of a kanji with hiragana attached, you can bet that it will use the kun'yomi reading. You haven't learned this reading yet so here's a mnemonic to help you:
If you're too shy to approach people just learn how to use a yo-yo (よ)! Then people will approach you to compliment you on your sick skills. You won't have to do it yourself!