For me, a holiday means to lie/lying around on a beach.
lying around
I can remember to go/going on a long journey when I was a child.
...going on...
I try spending/to spend time in places of natural beauty whenever I can.
to spend
I'll never stop traveling/to travel even when I'm old.
travelling
I admire people like David, who went on to explore/exploring places even though it was very uncomfortable for him
exploring
