We could say "We take our time." That means we are not rushed or we refuse to be in a hurry. (Google Mr. Rodgers "I like to take my time" -Mr. Rodgers was a children's television personality- for a sweet little song that will give you a sense of that phrase.)
If you are taking time while walking you could say you are ambling, meandering, strolling.
You could also do anything at a leisurely or relaxed pace.