Understanding 'Ventured' in Context

Once upon a time, in a small village, there lived a boy named Leo who loved to explore. One sunny day, he ventured into a dense forest where the trees were tall and the air was fresh. While walking, he stumbled upon a sparkling stream. The water danced over the stones, and Leo felt a wave of joy wash over him.

In this story, the word 'ventured' is used. What does 'ventured' mean in this context?