I'd advise a bit of caution depending on your fitness when you started. As others have said, see what you were doing naturally, and then work up gradually from there.
Two weak points in our body for walking are the knees and the feet. We often don't think of having to build muscles in our feet. First there are five layers of muscles on the sole of the feet that provide padding and shock absorbtion for the tendons. There are muscles on top of the feet that hold the arch up from above. Efforts to get excessive arch support from below will result in flat feet. The foot can get repetitive motion injuries just like the hands do for people who use the computer too much.
There are no "do-overs" for foot and knee injuries. If a person walks through pain, they are likely to damage a tendon to the extent that it won't heal with time and the injury becomes chronic. In many cases it requires an operation, and these operations have a limited chance of success. These injuries are usually preceded by tiredness, or mild pain. This is the time to take a day off, or at least reduce the steps as much as possible. My suggestion is to keep your steps below the point of tiredness or pain, and gradually improve from there. "No pain, no gain" doesn't apply to tendons. Pain or tiredness means your muscles have not yet developed enough to prevent permanent injury to the tendons.
As you walk more, you will subconsciously learn to walk in a way that minimizes tiredness. This isn't something that can be taught, as each person is different. As your gait adjusts, you will rise quickly above previous plateaus seemingly without effort.
