"We have walked on the beach each day."
Translation:Wij hebben elke dag op het strand gelopen.
Copy and Paste from a comment I've seen:
Some verbs can be used both with zijn and hebben.
In this case hebben was used because the direction/destination was not mentioned (otherwise, zijn would have been the right auxiliary).
For more information, please check here> http://www.dutchgrammar.com/en/?n=Verbs.Au04
Translation: “For the completed time (perfectum and plusquamperfectum) you often use the auxiliary verb “hebben” (‘have’), for example: “‘ik heb een brief geschreven’” ('I wrote a letter'), “we hebben veel gelachen” '(we laughed a lot'). You use “zijn” ('to be') with a verb that indicates a change of situation, such as: grow, change, die, move. For verbs of movement (walking, cycling, driving) you use “hebben” ('have') if only movement is mentioned. You use “zijn” ('to be') when the place where the movement is going is mentioned.”
Remember to place the time component (elke dag) before the place (op het strand). There's a standard word order for this which should help you to get it right most times: Time, manner, place.
So, for example: "wij hebben elke dag (time) in de regen (manner) op het strand (place) gelopen".