16 month still not walking

I don’t know how to get him to want to walk. He walks around holding our pinky finger. He’s barely holding on. He even did it to the doctor in her office. However he won’t stand on his own or walk on his own! We catch him standing all the time and as soon as he sees us he drops down. We refuse to carry him and make him walk everywhere and yet he still won’t walk on his own. How do I get him to not be so scared of walking not holding one of us or the dog?