I came across a great quote from Thich Nhat Hanh " Walk as if you are kissing the earth with your feet".
Which reminds me of how how I was taught , when placing the foot on the ground it is with sensitivity as you may need to pick it up without lurching or being off balance.
The ground may have an obstacle, hole, maybe avoid a foot sweep or you want to kick. Don't be mentally double weighted in your stepping.
