>> What I want to be able to do is have a small graphical program that
>> allows you to browse the through the directories, using either the
>> mouse or the up and down arrow keys (in conjunction with the enter
>> key.)  Then you can change the current working directory without using
>> the CD command.
>>
>> + You determine the folder you want to navigate to (if it is hopefully
>> known in advance.)
>> + You launch the CD substitute program, and use it to navigate to the
>> specified directory.
>> + When the program terminates, you are back at the shell prompt and in
>> the directory that you navigated to.
>>

I've always used bash completion (with the tab key) and been happy
with it, but perhaps you'd want to look at the "wcd" utility:

http://www.xs4all.nl/~waterlan/

(in particular, the interactive directory browser: wcd -g, seems
likely for what you'd want)

if you're using Debian/Ubuntu or derivatives, install with:

aptitude install wcd

and then read instructions in /usr/share/doc/wcd/README.Debian

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