saunter

nouns

a careless leisurely gait
"he walked with a kind of saunter as if he hadn't a care in the world"
saunter
is a type of (narrower)
a person's manner of walking
gait
a leisurely walk (usually in some public place)
amble, perambulation, promenade, saunter, stroll

verbs

walk leisurely and with no apparent aim
saunter, stroll
is derived from
saunterer