Have you ever looked at the way people walk? Try it. It's quite amazing how varied we are. Some walk stiff legged, and heron like. Others take huge, gangling strides, leaning backwards slightly. Some, like me, swing their legs from the hip. Others take tiny, tottering steps.
It seems obvious we each learn to walk all by ourselves. We may have a natural drive to stand upright and to propel ourselves forwards but thereafter it's all down to the individual. All personal trial and error.
My little nephew-clones seemed to feel the urge to walk more than most. I think they only crawled for about a fortnight then were up and running before i knew it. They both favour an on the toes free form dash method of perambulation. It's quite helterskelter round my sisters house.