It is always recommended to stay inside your vehicles when you are in the national parks unless your driver-guide finds a safe area to stop for lunch or to stretch your legs. If you are keen on hiking, there are guided walks that are available in Tarangire, Lake Manyara, and Ngorongoro. 

Within the Serengeti National Parks, long walks are not permitted during to conservation reasons; however, some lodgings will offer short walks near the lodge or camp.