Mine seems happy enough to wander around and check out the universe on his leash. I just follow him around to make sure he doesn’t get into trouble.
The catch is that you have to let the cat decide where he or she wants to go. You can’t just walk them where you want to go like a dog, at least not for most cats.
We often take our two cats for a stroll on the golf course behind our house. People stop and ask how we get them to follow us.