Do you know where your feet are when you stand and walk? Can you stand and balance on one leg without holding on? Being centred over your foot is essential for balance when stepping and walking. One way to improve your balance is to learn Tai Chi walking.
Here is a simplified version which is just like walking and contains many of the Tai Chi principles. Stand in an upright posture, holding onto a firm support like the kitchen counter if you are unsteady. Very slowly step as you normally would with your right foot and place the heel down gently, move your centre (the centre of the body is the area just below your belly button) slowly forward over your front foot. Feel how the pressure increases as the sole of your foot flattens onto the floor and your weight gradually shifts into this foot. Meanwhile notice how the heel of your left foot has come off the floor and feel how the pressure has decreased in this foot. Continue slowly transferring your weight forward until the toes of the left foot leave the floor and gently step your left foot forward. Continue with your right foot and repeat the process for a few steps.