Along the UNESCO World Heritage listed Bandiagara Escarpment are a s string of Dogon villages. While years ago the Dogons and Tellum inhabited them, today people live in villages next to the cliffs. The need for protection from attackers is not the same as it once was.
There are a number of villages within walking distance to each other. This is Africa, so don't except nice roads or sidewalks, but there are some relatively flat paths in some cases. In others, expect some light hiking with the occasional questionable tree-bridge over a crevice or just climbing up rocky paths. In case you're wondering, that's a school on the far left that is a bit shrouded behind the trees.