Google Android 2.3 User Manual page 267

Maps, Navigation, Places, and Latitude
Select a destination while en route.
1 Press Menu
2 Select a destination from the list of destination options.
Exit Navigation (Beta)
You can exit Navigation mode when you reach your destination, or at any time.
S Press Menu
You return to the previous Maps view.
AUG-2.3-103
and touch Set Destination.
and touch Exit Navigation.
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Android User's Guide