Although GPS has become a standard component of smartphones, providing accurate navigation during the last portion of a trip remains an important but unsolved problem. Despite extensive research on localization, the limited resolution of a map imposes restrictions on the navigation engine in both indoor and outdoor environments. To bridge the gap between the end position obtained from legacy navigation services and the real destination, a “last-mile” navigation system is proposed to enable plug-and-play navigation in indoor and semi-outdoor environments. The system exploits the ubiquitous, stable geomagnetic field and natural walking patterns to navigate the users to the same destination taken by an earlier traveler. Unlike existing localization and navigation systems, the proposed system is infrastructure-free, energy-efficient and cost-saving.