I unlearnt how to walk?

Does anyone have advice? I have social anxiety and years ago I started to think too much about the way I walk, so it just stopped working automatically in public places, and I manually had to think about each step. It def looked weird because a classmate asked me why I'm walking so weird. Now it has gotten much worse. It also stopped working when I'm alone/ at home, so I'm always limping around because I forgot how to walk properly and always think too much about it, even if it's just my unconsciousness. At some point I even overlooked my doctor noting down "slight walking disability". Is there any way to reverse it? Anyone who had a similar experience?