Having the right shoe makes all the difference. That was my experience. But one more thing to add to this is your form.
Try to focus on drawing in your abdominals and pivoting your tail bone down as you walk. Doing this will rotate your knees, and shins and feet, slightly more forward, putting less strain on your shins. It takes a little time and concentration to make this your permanent walking or running form, but it may help.
From Runners' World, but it applies to walking as well:
Quote:
Your hips are your center of gravity, so they're key to good running posture. The proper position of your torso while running helps to ensure your hips will also be in the ideal position. With your torso and back comfortably upright and straight, your hips naturally fall into proper alignment--pointing you straight ahead. If you allow your torso to hunch over or lean too far forward during a run, your pelvis will tilt forward as well, which can put pressure on your lower back and throw the rest of your lower body out of alignment. When trying to gauge the position of your hips, think of your pelvis as a bowl filled with marbles, then try not to spill the marbles by tilting the bowl.
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