Walking under city lights sounds romantic. But the truth is, expensive car rentals and commuting are just not ideal to many. Besides, walking is a form of exercise, and it improves both physical and mental health. Apart from being beneficial, it is the best way to immerse yourself in the city.

Since modern infrastructures have limited the car-oriented structures, pedestrian-friendly cities have become more ideal to Americans, especially to those who love to walk. Whether a resident or a tourist, walking is such a practical choice when compared to spending money on gas or fares. Although it is impossible to get around the U.S. without a car, there are definitely cities across the country that the walking community has been exploring on foot.

Here are why the American walking community is in love with these cities:

10 New York City, New York

New York City is known for its unlimited access to public transportation, which can get anyone from one point to the other in just a few minutes - however, it’s costly. Thanks to its walking distance from shopping centers, restaurants, and theaters, we no longer have to spend on fares. Hence, the main reason why this is a destination for those who enjoy walking.

In fact, the U.S. Census data shows that over 70 percent of Manhattan residents have neither car nor license, and some of the neighborhoods like Union Square and Nolita, are especially friendly to pedestrians.

RELATED: This Is How Far The Catskills Are From New York City, And Why It's The Perfect Weekend Trip

9 San Francisco, California

San Francisco holds the title as the second most walkable city in the country. The hills and peaks in the city are not only the reason why people prefer to walk, the view of the city as people walk through Haight-Ashbury makes it worthwhile.

Although big car culture goes through the Golden Gate Bridge, many still prefer to walk due to its serene beauty. But, once the legs have worn out, rental bikes are available to bike through the popular streets of San Francisco such as Chinatown and Union Square.

8 Jersey City, New Jersey

So-called the “sixth borough” of New York City, Jersey City is also home to unlimited methods of transit. But this city is ideal for walking because of the accessibility to its shops and centers. Within five minutes, residents and tourists can get to around 20 different kinds of shops, restaurants, coffee shops, and bars. Who would need a car when you can run errands within a few minutes' walk?

7 Seattle, Washington

Downtown sheen and outdoor adventures are some of the things people love in Seattle. The Space Needle, being the number one on the bucket list to many tourists, is definitely a walkable area. There, tourists can enjoy its indoor garden, the pop culture museum, and the Pacific Science. If skyscrapers are not a go-to, the Fremont neighborhood is a great area to do some walking instead.

RELATED: There's An Abandoned Subterranean City & Tunnel System Under Seattle, And Yes, You Can Visit

6 Philadelphia, Pennsylvania

Philadelphia is one of the most walkable cities in the country. In Philadelphia, almost everything can be done on foot. With its historic district, the popular street food, the public art, festivals, and the green spaces, everyone should ditch cars and witness these while walking.

Center City West and Rittenhouse Square are among the walkable neighborhoods in Pennsylvania.

5 Washington, D.C.

The National Mall is the perfect location to start a walk in Washington, D.C. The monuments in this park honor various people and historical events. As they say, it is where the present meets the past. This national park definitely has enough attractions to keep tourists busy for days.

The national park is not all there is, the city has plenty of neighborhoods that are perfect for a walk, including Georgetown with its historic restaurants, sidewalks, and the popular magical cherry blossoms.

4 Boston, Massachusetts

Boston’s close-knit neighborhoods are the obvious reason why residents and tourists prefer to walk - despite the fact that the city is known to have the first subway system in the US. Narrow walkways that picture the colonial times.

Some of its neighborhoods offer plenty of sights like Beacon Hill and the North End. The walking community must be sure to try the country’s most popular walk, the famed Freedom Trail.

RELATED: Best Of Boston: These Bookstores Will Have Bibliophiles Falling In Love

3 Chicago, Illinois

The Windy City offers various walking tours to its popular museums and urban neighborhoods. More than that, Chicago’s music, sports, comedy shows, and food festivals are best explored by foot. Tourists are usually fond of the city’s waterfront view in Chicago Lakefront and like to stroll around Navy Pier.

2 Miami, Florida

Miami City is a haven in the south. From the view of its beaches to its vibrant street arts, walking is the best option to explore these gems. It’s no wonder why the walking community loves to stroll around the city. Not only do these locations offer spectacular views, but also an understanding of the art deco of the city’s sidewalks and its historical downtown.

Little Havana, the Downtown area, and the Wynwood-Edgewater are some of its pedestrian-friendly neighborhoods.

1 Charleston, South Carolina

Charleston is the perfect location to get a glimpse of what cities in Europe look like. It is known to be the “Little London” of the south. It’s a very walkable city because it is known to be the safest city in the country. Tourists can learn of its historic landmarks and its popular architecture.

Downtown Charleston offers one-stop shopping centers, restaurants, and shops for small souvenirs. While walking around King Street and the oldest park in town, Washington Square will immerse tourists into the history of Charleston.

NEXT: A Guide To The Best Southern Food In Charleston