Ok, try this:
Touch the ground on every third step, and walk to the corner store, and back.
When you get tired, you can stand up and walk.
Very small children learn to use their hands to assist in locomotion because they are close to the ground, very flexible, and have a very different center of gravity than an adult. Walking is learned behavior, but it does not require a teacher, for a normal human. Moderately retarded people generally learn to walk, as well, even without assistance, although it takes them longer, even without physical handicaps, which are frequently associated with the existence of the mental handicap.
Profoundly retarded people, even without physical handicaps are less able to learn to walk, and since they are likely to be quite large when they begin actually trying it, they tend to have abnormal gait patterns, including a tendency to touch the ground, or other objects. The reason is not that they are more comfortable moving that way, the reason is that they are afraid of falling down, since that happens to them as they learn, and they are much higher, and heavier when that happens.
“Wild children” are more common in literature than in real life, and their lives generally include enough external variables (such as near starvation, physical injuries, and emotional trauma) to overwhelm any information to be gained from how they walk. The very few well-documented cases of feral human development are touted for much more insight into human development than they deserve. I recommend the works of Piaget as a better source.
Ever wonder why little kids walk with their hands up in the air? It is simple. Their parents hands were just about that position, when they first learned to walk, and the learned behavior remains patterned for a while, when they first begin ambulating independently. Kids who learn to walk in walkers tend to walk squatting down, at first, for the same reasons. Learning to walk without crawling has side effects as well, on gait, and on learning methodology. Some think that patterning lasts into adulthood.