To perambulate is to take a walk by foot. “Perambulation” is the noun form — the act of walking itself. But it’s not just any kind of walking. Perambulation is specifically traveling by foot in a leisurely, pleasurable manner. However, the first usage of the word, in the 15th century, was for business rather than pleasure. At the time, a perambulation was a walk around a certain area, such as a forest or a parish, in order to officially record its boundaries.