We study the three-dimensional incompressible Navier-Stokes equations in a smooth bounded domain $\Omega$ with initial velocity $u_0$ square-integrable, divergence-free and tangent to $\partial \Omega$. We supplement the equations with the Navier friction boundary conditions $u \cdot n = 0$ and $[(2Su)n + \alpha u]_{tang} = 0$, where $n$ is the unit exterior normal to $\partial \Omega$, $Su = (Du + (Du)^t)/2$, $\alpha \in C^0(\partial\Omega)$ is the boundary friction coefficient and $[\cdot]_{tang}$ is the projection of its argument onto the tangent space of $\partial \Omega$. We prove global existence of a weak Leray-type solution to the resulting initial-boundary value problem and exponential decay in energy norm of these solutions when friction is positive. We also prove exponential decay if friction is non-negative and the domain is not a solid of revolution. In addition, in the frictionless case $\alpha = 0$, we prove convergence of the solution to a steady rigid rotation, if the domain is a solid of revolution. We use the Galerkin method for existence and Poincar\'{e}-type inequalities for the exponential decay, with suitable adaptations to account for the differential geometry of the boundary.