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The Ancient Greeks traveled by the sea because the land was to mountainous to travel by foot. The Ancient Greeks traveled by foot, cart, chariot and ship.
Because that was there main route of Transportation. And it help them discover more lands.
The ancient Greeks referred to the planets as "wanderers" (which is the literal meaning of "planet", in fact) as a result of what they directly observed in the sky. The planets appeared to their observation to wander -- or, travel -- across the sky each night, and on varying paths during the course of each year.
I would say the Mediterranean Sea, because you could easily travel anywhere in the known world on it back then, and both Rome and Greece were world powers. It also served as a huge trade route.
Ancient people traveled for one reason: trade. At the time, traveling was long, tedious, and dangerous and was only done by those who needed to sell their goods to support their families.