Robert Martineau tells the story of his 1,000-mile walk through West Africa, describing the places he saw, the people he encountered, and how the experience changed him.

Pilgrimages have been practiced across different cultures for centuries, and a pilgrim's journey is both literal and spiritual.

Through the struggles of pilgrimage – from physical exhaustion to loneliness – pilgrims can gain resilience, perspective, and sometimes enlightenment.

Robert Martineau is a travel writer and founder of TRIBE Freedom Foundation, a charity fighting human trafficking.

At the age of 27, after a year of personal hardship, Martineau quit his office job and set out on a pilgrimage through Ghana, Togo, and Benin, to Ouidah, an ancient spiritual destination.

In Waypoints, Martineau examines the meaning of pilgrimage and reflects on the inner changes he experienced on his walk.