Just about any walk with a small child is a walk of discovery, whether or not the adult means for it to be. Of course, it's much more fun if the adult can take the time to appreciate the discovery too. How quick we are to move past all the everyday wonder.
This morning, Ellie and I each picked up a magnifying glass and took a discovery walk while baby Stephanie dozed in the baby carrier. We spent a good five minutes watching a ladybug cling to a leaf (Ellie decided it was sleeping). We also thoroughly examined the flowers growing the grass and the bark of every tree we passed.
If it's been a while since you've slowed down, take a good five minutes and go play outside with a magnifying glass in the shade. You just might get to experience wonder in your world all over again.