2006 RX40h - how to store hybrid RX for 6 months?

[Moosh]

Hi, I recently purchased a 2006 RX400h with 39k miles on it for  use at my summer home in Seattle.  The car will be used for approximately 6 months a year then sit around for the remaining 6 months.  What should be done to properly store the car? Periodic drives by a friend? Can it be allowed to simply sit in the  garage with the  starting battery in the condo on  a trickle charge?  Any assistance will be appreciated. 

Jody