Bonjour Héctor !
We use the expression "aller à pied" when we want to make a contrast with another means of transport, i.e. he's walking, as opposed to getting the bus for example.
So you usually use "aller à pied" with a destination, because you emphasise how you're getting to that destination.
Je vais à l'école à pied, tu prends le bus.I walk to school, you take the bus.
"Marcher" is used in a more general context, and to indicate the way someone walks.
Elle marche bizarrement.She walks funny.
Thanks to you, I've clarified the lesson accordingly :)
I hope that's helpful!À bientôt !
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