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You can manually log a walk. The instructions for manually logging activities can be found at https://help.fitbit.com/articles/en_US/Help_article/1144/
I'm not sure about the app but if you do this via the web dashboard at https://www.fitbit.com/activities you can click on the "walk" icon near the bottom to log a walk and change the units from miles / kilometers to steps.
Note though that manually logged steps do not count towards challenges, badges or the total 7 day steps on the friends tile.
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