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To speak about walking in the city, you need the appropriate vocabulary.
Outing - a short journey made by a group of people, usually for pleasure or education;
Stroll - to walk in a slow, relaxed manner, especially for pleasure;
Drive - used in the names of some roads, especially roads containing houses;
Row - a line of houses joined together along their side walls;
Sail - travel on the water;
To take a walk/stroll - go for a walk in a slow, relaxed manner, especially for pleasure;
To promenade - to walk slowly along a road or path for pleasure;
Tour - to go on a tour somewhere;
World tour - travel to countries, or an area of human activity or understanding;
Picnic - an occasion when you have an informal meal of sandwiches, etc. outside, or the food itself;
To picnic - to have a picnic somewhere.
Examples:
Every year the professor takes her students on an outing to the archives of the Library of Congress.
We could stroll along the beach after dinner.
The boat sailed along/down the coast.
We spent a month touring (around/round/in) Kenya.
There were several families picnicking on the river bank.
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