Stroll
Part of speech: noun
Definition: A wandering on foot; an idle and leisurely walk; a ramble.
Part of speech: verb
Definition: To wander on foot; to ramble idly or leisurely; to rove.
Example sentence: I'm a walker, whether that's a stroll on the beach at sunset or getting up at eight o'clock on a Sunday morning and doing an eight-hour hike through a canyon. It's Zen time for me.
Saunter
Part of speech: verb
Definition: To stroll, or walk at a leisurely pace
Part of speech: noun
Definition: A leisurely walk or strollA leisurely pace