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I have met with but one or two persons in the course of my life who understood the art of Walking, that is, of taking walks, who had a genius, so to speak, for sauntering; which word is beautifully derived "from idle people who roved about the country, in the middle ages, and asked charity, under pretence of going a la Sainte Terre"--to the holy land, till the children exclaimed, "There goes a Sainte-Terrer", a saunterer--a holy-lander. They who never go to the holy land in their walks, as they pretend, are indeed mere idlers and vagabonds, but they who do go there are saunterers in the good sense, such as I mean. Some, however, would derive the word from sans terre, ...
Source: HighBeam Research, The future of the walk.