Amble

You can watch the cows amble through the pasture.

I wish you wouldn't amble; this is New York City--you'll get run over.

casual amble

The little man was ambling along in the middle of the street, looking around him with an expression of keen interest.

amble through the park

They decided to amble along the beach at sunset.

Tourists ambled through the narrow streets of the old town.