Sign in to your Xbox account on your friend’s console
Press the Xbox button
Go to Profile & system
Select Settings
Select General
Select Personalization
Select My home Xbox
Select Make this my home Xbox
Sign out of your account
Have your friend sign in to their own account
Repeat the same steps on your own Xbox with your friend’s account if you want access to their games too
Make sure each account only changes Home Xbox a limited number of times per year