If you're fond of strolling around your neighborhood with no special destination, you like to perambulate.
When you walk for the sake of taking a walk, you perambulate. It's an old-fashioned way to describe taking an after-dinner stroll or a meander through the zoo. The Latin word at the root of perambulate is ambulare, "to walk," and the more common word amble shares this origin. Another related word is perambulator, a mainly British term for a baby carriage or stroller, which is shortened to the more familiar pram.