Our cats are mostly inside only cats but I try to take out Chris and Frankie at least once a week. This usually happens on the weekend because I am too busy with work during the week. By then they are more than ready to get outside. Floki does not go out because I would never get a harness on him and he would probably freak out once outside.
Usually, I put a harness on Frankie and bring him for a walk first. Chris doesn’t need a harness because he is happy to hang around the house, eat grass, and then lie in the sunbeam, or in this case, a partial sunbeam.