Robert Louis Stevenson loved to travel on foot with none but a pack-animal for company. If you haven't read any of his works the following excerpts from some of his works will serve to wet your appetite.
"For my part, I travel not to go anywhere, but to go.
I travel for travel's sake. The great affair is to move; to feel the needs and hitches of our life more nearly; to come down off this feather-bed of civilization, and find the globe granite under foot and strewn with cutting flints. Alas, as we get up in life, and are more preoccupied with our affairs, even a holiday is a thing that must be worked for. To hold a pack upon a pack-saddle against a gale out of the freezing north is no high industry, but it is one that serves to occupy and compose the mind. And when the present is so exacting who can annoy himself about the future."
"I began my little pilgrimage in the most enviable of all humours: that in which a person, with a sufficiency of money and a knapsack, turns his back on a town and walks forward into a country of which he knows only by the vague report of others. Such an one has not surrendered his will and contracted for the next hundred miles, like a man on a railway. He may change his mind at every finger-post, and, where ways meet, follow vague preferences freely and go the low road or the high, choose the shadow or the sunshine, suffer himself to be tempted by the lane that turns immediately into the woods, or the broad road that lies open before him into the distance, and show him the far-off spires of some city, or a range of mountaintops, or a run of sea, perhaps, along a low horizon. In short, he may gratify his every whim and fancy, without a pang of reposing conscience, or the least jostle of his self-respect. It is true, however, that most men do not possess the faculty of free action, the priceless gift of being able to live for the moment only...."
"There is nobody under thirty so dead but his heart will stir a little at the sight of a gypsie's camp. 'We are not cotton-spinners all;' or, at least, not all through. There is some life in humanity yet; and youth will now and again find a brave word to say in dispraise of riches, and throw up a situation to go strolling with a knapsack."