Resolve their actions, repeat

Play out the scene. Ask them what they do. Resolve their actions. Establish how the scene and the situation has changed. Repeat, moving the spotlight around between PCs. Play to find out what happens.

If this point of interest is their destination, or if things have taken a dramatic turn, then this scene might roll into another scene, and another. Great! The journey is over, at least for now.

When the party decides to move on, figure out what their next point of interest is, what the next leg of travel is to get there, and frame the action on that leg of travel. If they decide to go home, see Going home