The Collaborative International Dictionary of English v.0.48:

Saunter \Saun"ter\, v. i. [imp. & p. p. Sauntered; p. pr. &
   vb. n. Sauntering.] [Written also santer.] [Probably fr. F.
   s'aventurer to adventure (one's self), through a shortened
   form s'auntrer. See Adventure, n. & v.]
   To wander or walk about idly and in a leisurely or lazy
   manner; to lounge; to stroll; to loiter.
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         One could lie under elm trees in a lawn, or saunter in
         meadows by the side of a stream.         --Masson.
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   Syn: To loiter; linger; stroll; wander.
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