BSA offers supplemental pack program ideas for each month. One of the older Cub Scout themes for the value of Health and Fitness is a Destination Parks theme.
Even during seasons when it is too cold for the Cub Scouts to get out tent camping, we can still get them outdoors on a day hike. Make sure your Cub Scouts know the 10 Outdoor Essentials.
These guidelines are appropriate for a front country adventure in an area like a park. That is the only type of hiking which is appropriate for Cub Scouts. If you are going on a back country hike, then you need to consider some other safety rules, like bringing a fire source and knife.