Ajahn Dhammasiha suggests to use the same instructions the Buddha has given us for Breath Meditation in our Walking Meditation.
The 16 stages of breath meditation have been expounded by the Buddha in great detail, for example in the Ānāpānasati Sutta, Majjhima Nikāya No 118
= Mindfulness of In and Out Breath, Middle Length Discourses No 118:
English Version:
https://www.dhammatalks.org/suttas/MN/MN118.html
English & Pali Line-by-Line Version:
https://ancient-buddhist-texts.net/Texts-and-Translations/Anapanasati/Anapanasatisuttam.pdf
Divided into four groups of four ('4 Tetrads'), the 16 instructions cover all four Satipatthāna (4 Foundations of Mindfulness), four steps for each of the four foundations:
- Body
- Feelings
- Mind
- Dhamma
If we simply transfer the same instructions to the experience of walking, we can apply the same thorough guidance to our walking meditation.
For example:
'Mindfully one breathes in, mindfully one breathes out' becomes 'Mindfully one steps with right leg, mindfully one steps with left leg'.
'Breathing in long/short, one knows "I'm breathing in long/short"' becomes 'Stepping long/short, one knows "I'm taking long/short steps" '.
'One trains oneself "I breathe in/out feeling the whole body" ' becomes 'One trains oneself "I step right/left feeling the whole body" '.
'One trains oneself "I breathe in/out joyfully" ' becomes 'One trains oneself "I step right/left joyfully" ' .
and so on...
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