Possibly the best place for walking safaris in Zambia is the Luangwa Valley, where walking safaris were pioneered by Norman Carr back in the 1960s. It has a reputation as one of the best and most accessible walking areas in Zambia. Most of the camps and lodges in the South Luangwa National Park are geared for walking to varying degrees, from daily bush-walks to exclusive walking safaris over a number of days.
The North Luangwa is almost exclusively used for walking safaris with only a handful of operators currently offering safaris here. Getting here is a bit more tricky than the South Luangwa but for the walking purist, well worth the effort.
It is also possible to walk in the Lower Zambezi among a range of activities that also include game drives and river trips. There is less of an emphasis on walking here than in the Luangwa Valley, given all the other stuff that is available but it's still a great way to see the area and stretch your legs.
Here are a couple of walking safari experiences in Zambia for you to explore: