Longer routes add Vaucouleurs, where she set out; Chinon, where she met the future king; and Poitiers, where theologians examined her and, as Benedict XVI recalled, judged her favorably. Benedict XVI describes her mystical life as beginning at thirteen with the voice of St. Michael the Archangel; the Church canonized her for her holiness and has not defined the nature of those experiences.
There is no tomb to visit. Joan's ashes were thrown into the Seine at Rouen, and no bodily relics of her are known to survive, so the pilgrimage is to the places of her life and death and to the churches where she is honored. Her feast is May 30, the day of her death.
Good to know before you go: these places lie far apart. Domrémy and Vaucouleurs are in Lorraine in the east, Reims is in Champagne, Orléans is on the Loire south of Paris, and Rouen is in Normandy to the northwest, so a route that takes in all of them needs many days and several long drives. With two or three days, choose one end of the story: her childhood country around Domrémy and Vaucouleurs, or the places of her public life and death at Orléans and Rouen.