My mama called – "Hello? What you doin'?" “Kicking it”
I should’ve told her I’m probably ‘bout to catch my first offense with the homies

from Kendrick Lamar – The Art of Peer Pressure Lyrics on Rap Genius

Meaning

Kendrick’s mother calls him up during the chase. Then there’s a pause, indicating that Kendrick has to think about how to respond. But then he quickly says, “just kicking it”.

A more accurate response to what they’re doing is getting chased by the cops and on the verge of being arrested. This is what Kendrick wanted to say at first, but then realized that his homies were in the car and he couldn’t tell on them like that. The peer pressure around him even makes Kendrick lie to his own mom.

He ends this line using the same ending as the other verses, “with the homies.” This pattern creates suspense, making it seem like Kendrick would be getting arrested.

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