noun

an act or incident involving excitement, daring, or adventure.

he told of their escapade with a ‘borrowed’ truck

exploit,stunt,caper,skylarking,mischief,romp,antic(s),fling,spree,prank,jape,game,trick,adventure,venture,mission,deed,feat,trial,experience,incident,occurrence,event,happening,episode,affair,lark,scrape,fooling around,shenanigans,frolic