Friends have been defined as people who know you at your worst and like you anyway, people in whose company you can be yourself. But perhaps more than anything else, friends are people who care about you for who you are, not what you can do for them. There is a kind of holiness in true friendship, because it makes sure that we are never alone when we desperately need to not be alone.
It is possible to enjoy every step we make, not only during walking meditation, but at any time, whenever you need to move from one place to another, no matter how short the distance is.