Apparently when walking we are all doing it wrong. We are all using the 'passive foot', not aligning our hips correctly, and even are using our arms wrong. Blame your parents for their laxity in tutoring you as a toddler.
No worry, though. Because expert in the matter Joanna Hall has tips to improve, and boost the fitness giving benefits:
Remember we were told that sitting should be upright and now they say we should hunch and slouch.
We were told red meat was good
Eggs were good
And now they are not
Walking...well I think it's a natural progression of leaning forwards, and putting one leg out to stop our fall, continuing to lean forwards, and using the other leg..and infinitum
Humans have been walking upright for millennia, Harper's Bizzare (deliberate) have been in existence for less than 200 years, and the writer...well who knows.
Walking in a natural way wins hands down.