There are many ways to navigate around the document.

Scrolling with keyboard

Below Up, Down, Left, Right refers to arrow keys.
Certain actions add navigation point. You can go back and forward in the history of navigation points (similar to browser back button) with:
Actions that add navigation point:

Scrolling with mouse and touch pad

Zooming and changing view

With keyboard

With mouse

Related commands

You can assign your own keyboard shortcuts. Here are related commands:
Tab commands:
Zooming and view commands: