To touch on what Jfraser just mentioned, a couple sources for meditative walking would be in the books The Way of Qigong (a great book), by William Cohen, I believe the author is... and the foot work in the book Combat techniques of Taiji Xingyi and Bagua, by Lu Shengli, using the same method.
One technique for meditative walking mentioned in The Way of Qigong...
Start with feet together, and mind clear. You should be in a trance, same as when you do standing on stake, through whole exercise. You should also coordinate breathing with steps, inhale before, exhale during. Doesnt matter if abdominal or reversed abdominal. Feet should be firmly rooted and all steps should be carelfull and gentle as if you were walking on ice. Slightly bend knees as in beginning of Taichi to sink wieght and Qi. step out with one foot by pouring your wieght from right foot to left foot making right foot wieghtless, like pouring water from a pitcher. Step out in a crescent shape that curves in towards your left foot, and out at 45 degree angle from your body about a regular stride forward. As the foot touches the ground it goes from heal to toe, and the wieight slowly pours from rear foot to front foot. move rear foot next to front foot, only toes touching floor, step out in a crescent shape that curves in towards your right foot, and out at 45 degree angle from your body about a regular stride forward. repeat with left foot, right foot, etc. etc. About as many steps as you feel like doing.
You can do this backwards too, just toe to heal instead of heal to toe. You'll be amazed at how relaxing and grounding this exercise really is. It also builds "stepping sensitivity". You dont commit to your steps until you know its safe. If you do this blindfolded with a bunch of stuff on the floor regularly, youll make stepping sensitivity a habit and your walking will be much safer... Ever stepped on a nail before? Will never happen again. Also it will help you to avoid traps in a fight, and stepping into a bad position.