To avoid getting lost when day hiking or backpacking you will find yourself needing to use Backcountry Navigation which involves Finding Your Way with a Map and Compass.
A good overview can be found at the Map and Compass Fundamentals page, which is a long but thorough document that details compass and map topics as well as navigating around obstacles and dead reckoning. There is also the
OA Guide to Map & Compass which uses info from the Backpacker's Field Manual.
Once the basics of using a map with a compass are understood you can test your mapping and compass handling skills with a Land Navigation with Map and Compass Lesson Plan.
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