It's good to take a walk on the beach.
Michael wants to strengthen his feet, so he could get into barefoot hiking.
Michael wants to go for a walk barefoot.
Michael decides to go for a walk on the sand at the beach.
Michael decides to walk around his neighborhood barefoot for a bit.
Michael gets a good workout, while strengthening his feet, and enjoys his time.
Michael steps on a shard of glass he didn't see and cuts his foot open.