How did people in ancient times travel on the surface of the earth?

The voyage of Phoenician sailors around Africa is considered the beginning of geographical discoveries – this was back in the 3rd century BC. e. Further known are the voyages of the Vikings near the northern shores of North America. Erik Rudy discovered the islands of Iceland and Greenland. It is also known about the travels of the Vikings in the Black and Mediterranean Seas.
The ancient Egyptians, Greeks and Romans studied the territory of southern Europe and southwestern Asia. Carthaginian Hanno in the VI century BC sailed along the western coast of Africa, the inhabitant of Massalia Pytheas explored the northern part of the Atlantic Ocean.