Foraging is a fundamental food-seeking behavior in a wide range of species that enables survival in an uncertain world. During foraging, behavioral agents constantly face a trade-off between staying in their current location or exploring another. Despite ethological generality and importance of foraging, it remains unclear how the human brain guides continuous decision in such situations. Here we show that anticipatory activity dynamics in the anterior prefrontal cortex (aPFC) and hippocampus underpin foraging for primary rewards. While functional MRI was performed, humans foraged for real liquid rewards available after tens of seconds, and continuous decision during foraging was tracked by a dynamic pattern of brain activity that reflected anticipation of a future reward. When the dynamic anticipatory activity in the aPFC was enhanced, humans remained in their current environment, but when this activity diminished, they explored a new environment. Moreover, the anticipatory activity in the aPFC and hippocampus was associated with distinct decision strategies: aPFC activity was enhanced in humans adopting an exploratory strategy, whereas those remaining stationary showed enhanced activity in the hippocampus. Our results suggest that anticipatory dynamics in the fronto-hippocampal mechanisms underlie continuous decision-making during human foraging.