We use a paper called a "May I Please" form. On that paper the child who wants to go somewhere answers several questions. First is what is their behavioral choice level, because the amount of freedom they have is correlated to the amount of responsibility they have shown.
They make the request, and unless they are on the highest behavior level, they must choose somewhere that requires a ticket, such as a movie, concert, bowling, skating, etc. To go to a mall and just "hang out" requires a special conversation. Next there are some questions about what is expected of them in a public place - clothing, language, behaviors, etc.
Next is times and locations, what to do in an emergency, what to do if they get in trouble, and if they are going with a friend, what is the behavior of a friend expected to be.
Even though the children don't like having to fill out yet another paper, they agree it is helpful to get things right, prevent possible problems, avoid trouble and have a good time.