Take a day, plan a starting point and just go! Some of my best memories are from just meandering.
Once, in Shanghai, I walked to Yuyan Garden and just kept walking. I wandered down streets no wider than a narrow alley. I met a man cooking rice on a steel drum outside his one-room home, and he invited me inside. I sat and had tea with his extended family. After tea, I was given a green ceramic urn that they took food out of to give to me. I didn’t speak Chinese, and they didn’t speak English. It was one of my favorite experiences ever.
So plan very little and have fun!