ir de paseo

An intransitive verb phrase is a phrase that combines a verb with a preposition or other particle and does not require a direct object (e.g., Everybody please stand up.).
intransitive verb phrase
a. to go for a walk
Vayamos de paseo al parque.Let's go for a walk in the park.
b. to go for a ride (by car)
Nos subimos al coche y fuimos de paseo al centro.We got in the car and went for a ride downtown.
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