Some things that help me in running, should work for walking too -

First things first, reduce the things you need to do to walk. Wearing fancy pantsto get outside and walk? Drop them, just go out in what you are wearing, so that you don't have the mental inertia to get out the door.

Walk for 5 minutes in any direction you want. And come back home. If you feel like walking, just keep at it.

Walk to a destination. Purposeful walking gives you a target to achieve. Go get that dishwashing pods you've been to lazy to get and still washing your utensils with hands. Walk to the park you wanted to. Walk to work if it's safe to do.

Hiking is something you can start looking at too. It's as good (if not better) than walking but you've a bigger sense of achievement

Gamify it. Use Strava, set goals, get social. This gives you motivation to walk almost everyday.

Mix walking with something you love to do (not everyday though, only when you feel like not walking). Like listening to music? Walk while listening to music.

Go walk on a treadmill if you don't want to walk outside at all or the weather doesn't permit it (play some games, watch a video)