Every moment in life is a prayer, or could be. I think you can pray yourself into the mystery of the moment, or allow for the blessings of the moment to sustain you. Every moment is an invitation, and whatever you do in that moment, if it's dedicated to God, then it is a prayer.
Walking mindfully on the Earth can restore our peace and harmony, and it can restore the Earth's peace and harmony as well. We are children of the Earth. We rely on her for our happiness, and she relies on us also. When we practice walking meditation beautifully, we massage the Earth with our feet and plant seeds of joy and happiness with each step.