There isn't much to learn if you have proper (or at least bilaterally symmetric) range of motion in your muscles and joints. If, instead, you have long-term injuries, tissue damage, etc., that have led to patterns of movement that are causing degeneration and inefficient patterns of movement, then you basically need to learn how to fix those problems, then relearn to walk. There are complex sequences of neuromuscular cues that healthy people possess but don't think about consciously, just like the ability to recognize objects. I needed to learn a LOT about walking and running in every sense of the word, in addition to slowly gaining foot strength. It would not have happened if I had taken a passive approach. It was more like programming a computer to recognize objects from scratch in R or C (whichever you believe to be the pirate's favorite programming language...).