People don't give much thought to the way they walk these days, and unless you're a runway model or you're trying to master a silly walk most people just walk the way they walk and talk the way they talk.
But back in the Middle Ages people had a ball heavy way of walking that looks a bit odd by today's standards, like a catburglar creeping silently across the floor or a ballerina about to kick up into a pirouette.
The way that you walk is a very natural one. You put the ball of the foot onto the ground first. …the reason for this is pretty simple because… you sense your way, you feel your way. So like when I walk through grass I do it the same when I’m barefoot, if there’s a wasp or a slug or whatever, you sense it before your whole body weight is on falling onto it, as opposed to walking heel first.
-Via Laughing Squid