How to ask him to hang?

There’s this guy I’ve been talking to and I want to ask him to hang out. But, as much as I want it to be a date bc I reaaaallllyy like him, I’m just gonna says it’s hanging out so that I don’t seem weird. So if he says yes, idk what to do bc my parents wouldn’t let him come to my house or go to his house, but if we go to dinner or coffee or something it’ll seem like a date. Help!!