Parents often feel frustrated when their children don't come home on time.  When a child does this, I look at the behavior developmentally.  At what age does this behyavior normally happen?  You find this behvior in toddlers.  They get so involved in what they're doing, nothing else matters; especially time.

If your child comes home late, say, "Thanks for letting me know you're not big enough and strong enough to come home on time.  The next time you want to visit your frinds or go out and play, you'll have to do it at home.  I know that someday, maybe sooner, mayber later, you'll be able to come home on time."  Say nothing else and walk away.  If yur child starts to argue, smile sweetly and softly say, "I love you too much to argue."  Then consinue walking away.

You can have your child do practice drills by going out to play for short periods of time and then coming home.  Let him or her know ahead of time he or she is doing a practice drill.