When walking, shorten the length of your step so that when your foot strikes the ground, you are striking less through the heel and more through your midfoot or forefoot. Unlock the right knee prior to striking the foot down onto the floor. Make sure the hips are over the foot at footstrike, not behind it. This is the most common movement fault I see with walking, that the hips are too far behind the foot instead of over it. When the body is over the foot (weight-bearing through the arch) and the knee is unlocked at foot strike, the gluteals (gluteus maximus and gluteus medius muscles) should naturally turn on. If they do not, then there are three possible causes:
1) The hip is still too far behind the foot.
2) The knee is not unlocked.
3) You are not weight-bearing through your arch.
Lean your hips forward over the knee to engage the gluteus muscles. Now do you feel them? Bend the knee further, maintaining weight through the arch of the foot or bend forward at the hip to get them to turn on. Try this on the other side too.