This paper describes an investigation into how haptic output can be used to deliver guidance to pedestrians, who do not have any particular disability, to find their way to a particular destination indoors, e.g., a room in a hospital. A prototype device called GentleGuide was designed iteratively, resolving several design issues for the use of haptic output. GentleGuide has been assessed experimentally. Our conclusion is that haptic output offers significant promise both in improving performance and in reducing the disruptiveness of technology. A negative aspect of exclusively relying on a device like GentleGuide is the reduced location and orientation awareness by some participants.