Easy enough... get lost.
Seriously. Go out and explore neighborhoods that you have never been to before. I mean really explore; you are not going to do a fast ride, but a block by block ride. Then get lost and try to find your way back home again. Usually takes riding in a long direction until you come to a familiar street. If you know the area well enough to find something familiar quickly, then you need to go further. Wife and I do this from time to time... it is not a fast ride, but you find areas that you never really knew existed, and you have a good time.
Leave the car at home and see how long it takes to get to some destinations you have driven to before.