There is a version on getlazarus.org that I use myself sometimes (if I need 3.0/1.7 instead of trunk) on a RPi3.
Works out of the box on Raspbian. See
http://www.getlazarus.org/setup/?download#none and navigate to the Raspberry.
You may have noticed I actually use it a lot. This is the ONLY version that I know that has no issues and is compiled correctly.
The latter is important if you also want to do trunk builds later yourself.
Note that it is absolutely not necessary to cross-compile first on a RPi2 or 3 (Or even 1, but that is slower and needs swapspace setup now).
These little boxes are perfectly capable of building natively.
At the moment I can not fully recommend the newpascal solution yet for beginners and advise strongly to use the version from my above link.
This opinion may change in the future....