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... utcumque praecedes, supremum carpere iter comites parati. ...

carpere iter: Viam, iter, etc., or with definite local substantives, terram, mare, litora, etc., to go, tread upon, pass over, navigate, sail along or through, to take or pursue one's way (syn. ire): “viam,” Verg. A. 6, 629; Hor. S. 2, 6, 93; Ov. M. 8, 208; 11, 139: “iter,” Hor. S. 1, 5, 95. Lewis & Short s.v. "carpere."