Nowadays, it makes more sense to use the BottomSheetBehavior that you can find more information on how setting it up on https://code.tutsplus.com/articles/how-to-use-bottom-sheets-with-the-design-support-library--cms-26031
Basically, you need to set your main content, and your sliding content. The BottomSheetBehavior would only work for panels that you slide from the bottom to the top.
It has a quite simple set up and the BottomSheetBehavior could even work out of the box. Only by writing a android.support.design.widget.CoordinatorLayout layout, with another View inside (with even wrap_content as a value in the layout_height parameter), for instance a LinearLayout like this one:
<android.support.design.widget.CoordinatorLayout
    xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:tools="http://schemas.android.com/tools"
    xmlns:app="http://schemas.android.com/apk/res-auto"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:fitsSystemWindows="true">
    <LinearLayout
        android:layout_width="match_parent"
        android:layout_height="wrap_content"
        android:orientation="vertical"
        app:behavior_hideable="true"
        app:behavior_peekHeight="56dp"
        app:layout_behavior="android.support.design.widget.BottomSheetBehavior">
        <!-- Your content goes here -->
    </LinearLayout>
</android.support.design.widget.CoordinatorLayout>
In my case, I inflate this layout in a Fragment and add it to the Activity where you want to enable the SlidingSheetBehavior.