Habits are formed by repetition, whether it is learning the ABCs or walking, whatever you do, you learn to do better. If you walk badly, over time you will learn to walk badly better, but you will NOT learn to walk well.
In order to walk well, you have to challenge the brain to learn a new way of moving. It takes time and effort. This short, 8 minute video, by Destin of Smarter Every Day is one of the funniest and most accurate depictions of neuroplasticity and changing habits that I have ever seen. Over 14 million views indicate that others agree with me. He also demonstrates how much easier it is to change habits in children. Please watch it.