There is a particular company in Kenya who does specialise in a wide range of walking safaris (rather than just tacking them on to the basic game viewing experience), and their details follow. We normally make it a strong rule to only market camps or activities that we have personal experience of, but we have to apologise for the fact that this does not yet apply in this situation. However what they have to offer does look very good, and we shall endeavour to try it out for ourselves in the near future. In the meantime we are very happy to organise a trip here for you.
The company concerned is named Karisia, and their website is simply www.Karisia.com .
We can book what they have to offer at exactly the prices shown here, in addition, of course, to arranging accompanying travel, and indeed other Kenyan activities.