Essentially "correct," or at least elegant, walking involves balance and a lack of tension. Naturally learning this requires a lot of direct experience since walking is primarily a reflex activity. However, walking is at the same a skill which can be learned and modified if someone looks into hands-on methods.

However, you can get some idea reading about The Alexander Technique, The Feldenkrais Method, Tai Chi and so forth.

[1] http://www.alexandertechnique.com/at.htm [2] http://en.wikipedia.org/wiki/Feldenkrais_Method [3] http://en.wikipedia.org/wiki/Tai_chi