What is a good way to learn to pick up my feet when I walk?

Daily work on stretching the back of your ankle so that you can bend your knee out over your foot more easily (the area of the Peroneal Tendons.)

If this area is too tight it makes it hard for you to lift the front of your foot easily as you walk. My physical therapist said that as people age they tend to shuffle and start tripping due to inflexibility in this area...and this can lead to serious falls. Thus, this is an important thing to work towards improving over the long haul for the distant future as well.

Good luck.

edit to add - if you have access to a physical therapist ( or sports therapist) you might want to be evaluated by an expert who can work with you to develop and strengthen the exact areas that need work. I found it to be cheaper than a doctor and saw great improvement in about six weeks time.

I had this problem, until I rigged up a system of pulleys that used a thin wire that I routed through my pants leg. It takes about 6-9 months of training, but it is effective. If you like this idea, I can direct you to the blueprints, which I published on my web site.