Translation of undertake in Spanish

We spent the rest of our time, eating in good restaurants, shopping, walking around and going to bars at night. One night of these nights we went to eat dinner at the Palermo district.
We drove to the next spot exactly at noon. We were told that this spot would not be crowded at all during the lunch hour and we were not surprised to find it completely empty without anyone else.
We visited the Inca Ruins on the mountains near Pisac: A taxi took us to the top and we walked all the way back down to Pisac (which by the way is not an easy task on day 2 at this altitude)