[sawn-ter, sahn-]
verb (used without object)
to walk with a leisurely gait; stroll: sauntering through the woods.
a leisurely walk or ramble; stroll.
a leisurely gait.

1660–70; of uncertain origin

saunterer, noun

1–3. amble, ramble, meander. Unabridged
Based on the Random House Dictionary, © Random House, Inc. 2014.
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World English Dictionary
saunter (ˈsɔːntə)
1.  to walk in a casual manner; stroll
2.  a leisurely pace or stroll
3.  a leisurely old-time dance
[C17 (meaning: to wander aimlessly), C15 (to muse): of obscure origin]

Collins English Dictionary - Complete & Unabridged 10th Edition
2009 © William Collins Sons & Co. Ltd. 1979, 1986 © HarperCollins
Publishers 1998, 2000, 2003, 2005, 2006, 2007, 2009
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Word Origin & History

late 15c., santren "to muse, be in reverie," of uncertain origin. Meaning "walk with a leisurely gait" is from 1660s, and may be a different word entirely. Some suggest this word derives via Anglo-Fr. sauntrer (mid-14c.) from Fr. s'aventurer "to take risks," but OED finds this "unlikely." The noun meaning
"a leisurely stroll" is recorded from 1828. Related: Sauntered.
Online Etymology Dictionary, © 2010 Douglas Harper
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Example sentences
Sometimes they slipped into mannish topcoats and sauntered down the runway with
  their hands in their pants pockets.
Then he sauntered off the stage and ate one of his grandma's cookies.
He sauntered back into the hotel late that night and proudly showed the hotel
  staff his award.
Somehow that game-changing tidbit was lost on us until a veteran of the game
  sauntered by and pointed it out.
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