When we take steps we need to shift weight from foot to foot. It's good to work on this aspect of walking and it challenges are balance. Make sure you shift weight over your foot, don't just lean your trunk. Start with small lifts and work to bigger lifts. Starting position is standing and then lean onto one foot and march the other leg. Place that leg down and shift to it lifting the other leg. Repeat a few times. Now continue the weight shifting but lift your heels toward your bottom this time, instead of marching in front. Weight shift slow and controlled so you work balance and don't just use momentum. Remember you shouldn't be leaning much.