Both. I got a dog because I was, somewhat unintentionally, raised with the idea that it's weird to go for a walk without taking a dog along. (We had a border collie in an inner suburb. No one was allowed to go anywhere that dogs weren't banned without taking the dog along for some exercise and mental stimulation.)
Even when the only reason I drag myself off the couch and out the door is because the dog needs it, I wind up feeling better, healthier, and happier by the time we're halfway through our walk.