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1. To sleep in another person's house as their guest. My son is sleeping over at his friend's house tonight. It's getting late, so why don't you both sleep over in our spare room?
2. By extension, to spend the night in someone's bed, with the implication of having sex with them. Are you sure you're ready for him to sleep over? You've only been going out for a couple weeks. Even when I was in my mid-20s, my parents still didn't allow my girlfriend to sleep over.
sleep over (with someone) (some place)
to spend the night sleeping at someone else's home. (Typically said by teenagers or younger children who spend the night with a friend.) Mom, can I sleep over with Tony? Can I sleep over at Tony's house?
Spend the night as a guest in another's home, as in Karen's friend Wilma is going to sleep over tonight. [Second half of 1800s]
To spend the night as a guest in another's home: A friend from out of town slept over last night. You can sleep over on the couch if you're too tired to drive home.