Well, we put the kids on their bikes (the ones that are old enough) and let them go to town on our quiet street.
Cindy and I have walked off and on for years. My how things have changed. When we started, there were no kids (maybe not even any husbands, I can't remember). Then, we began pushing one stroller, then two strollers, then two, including a double stroller.
These days we're back to one single stroller, but we have 3 very fast bike riders that walk alongside us.