To avoid repeatedly unlocking your phone when you are at familiar and trusted locations (like home or work), use a Smart Lock. You can still manually lock the phone at trusted places when needed.
Make sure you have:
Touch Security & location > Smart Lock.
If you don't see Smart Lock, try the following:
Set up your places:
To lock your phone when you're in a trusted place, on the lock screen, touch
. The phone stays locked until the next time you manually unlock it.
Remove the location from your trusted places: