A good place to do this is in Ledecestre
in the Ledecestrescire
region in England
There is a group of monks that walk back and forth between the western most gate/bridge to the middle of the city.
Climb over the western wall without being seen and wait for them to get close. Hold
to blend in with them and walk along with them. You should pass at least two areas with guards.
I will post a video of the location here as soon as it is uploaded.