Walking heel-to-toe seems natural enough, but that old enemy of sitting too much can really interfere with your ability to put one foot in front of the other. What usually happens, is that one foot kicks out to the side and lands slightly on one side of the foot or the other. You will recognize this when one shoe wears excessively on one side. There are many exercise programs that will improve your gait, and I encourage you to explore those.
Foot circles are a staple of many exercise programs. I do mine lying on the floor.