Walking safaris are usually offered by most lodges, with their guides providing security and sharing their knowledge of local flora and fauna. These are normally short walks within the vicinity of the lodges.
There are also itinerant walking safari packages: the walks can last for several days, with tents and equipment accompanying your group. It sounds quite strenuous, but these safaris are popular with families. You get to walk through some stunning scenery with superb wildlife-viewing opportunities, as well as camping out under the stars.