The basic form
caṅkamaEarly Buddhism — Satipaṭṭhāna
The oldest form. The Buddha walked a straight path back and forth; the Satipaṭṭhāna teaching names walking explicitly as a posture for mindfulness — ‘walking, he knows that he is walking’. Walking itself is the only object, with nothing added.
In practiceWalk a straight path of some twenty paces slowly back and forth; follow the lifting, moving and placing of each foot.