How can I help with walking?

My son is just about 14 months and is so close to walking but not quite there yet. He stands up using things around him like the toy chest, couch, table, etc. and walks along them as a guide. He moves very quickly, and sometimes stands without assistance, but hasn’t really shown interest in actually letting go and trying to walk on his own. We’ve helped him along with guided walking back and forth between myself and my husband, and he seems to enjoy it a lot, but then prefers to crawl because it’s faster.

Is there anything I can do to help him get those first steps? FTM here so I’m unsure if I just let it be and he comes into it on his own time or if there’s something I should do to help him out?