flaneur
To wander aimlessly or at a lounging pace. To walk to observe and enjoy rather than to get somewhere.
Meantime, we flaneured about the Guernsey market, and a remarkable pretty sight it was this bright morning.
Where it comes from
From French flâneur (“loafer, idler, dawdler, loiterer”).
Adapted from the Wiktionary entry flaneur (CC BY-SA 4.0).