Tap the bottom right-hand tab to open up the Nearby screen. Pokemon nearby are shown with a picture, taken from the local Poke Stop. Tap on a Pokemon you want, then tap on the footprints below the location and Pokemon picture. The map then zooms to a top-down view, showing the area, near a Poke Stop, that the Pokemon was sighted. When returning to your normal Pokemon Go navigation view, that selected Pokemon is indicated with a pink footprints indicator, so you can walk that way and catch it.
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