You might be familiar with the A-skip; this is a running drill that is used as part of a pre-run warm-up routine. The walking version is simply a slowed down version that we can do before we move into the full A-Skip. By doing this first, we can dial into the correct technique before making it dynamic.
Start in a standing position with feet hip-distance apart, look straight ahead, and keep your upper body tall. Raise your left knee to hip height while pushing up on to the ball of your right foot and start to walk forwards. The aim is to hit the ground below your centre of mass with the ball of your left foot and push off with your mid-foot. Keep the feet in a dorsiflexed position (foot parallel to the ground with toes pointed up). Just like when running - your arms should follow your leg movements, remember to keep those elbows tucked in and upper body tall.
Take it slow and focus on each part of the movement.