If you're talking about pronunciation (as opposed to writing), there is no "g" in "-ing." There is only the vowel /I/ and the nasal consonant (in the International Phonetic Alphabet) /ŋ/.
Some dialects of English, like Texan, use /n/ where Standard (Midwestern) American uses /ŋ/. It's just a difference.
For speakers of many other dialects, it's a simplification in casual speech. Sounds made at the front, like /n/ are easier to make in conversation than back (velar) sounds like /ŋ/, especially when the vowel is at the front like /I/.
As
newnickname said, it's not an error or laziness. It was laziness by our ancestors, but that's one way that all languages develop (The Principle of Least Effort).

Now it's just dialect or casual.
Writing joggin' shows the casual pronunciation (since there is no letter for /ŋ/).