Setting the goal to explore is only the first part, once that is done you will need to force yourself to go. Knowing the reward is my greatest motivation. Seeing the transformation of myself is great but paired with seeing things most people will never see outside of an image search online is what drives me to get outside.
"You are beating everyone that isn't here, even if you only make it part way"
There are a few tools I use to keep myself motivated & on the trails.