It was the practice of the Prophet (peace and blessings be upon him):
"When he (peace and blessings be upon him) walked, he would lift his feet firmly."
Hadith Referenceصحیح الجامع الصغیر / حرف الكاف / 4784
Hadith Gradingالألبانی:صحيح
Hadith Takhrij[طب] عن أبي عتبة. اصلاح المساجد ١١٧: ابن سعد - علي.