Cautious baby?

I have an 11 month who doesn't walk yet. I feel like he is super scared to, He won't walk holding on to things (like the couch or using his walker). He can stand on his own with no support, but he won't. He knows how to use his push walker and walk with it, but he won't. Rarely I can get him to do it. If he is standing up holding on to something he slowly and gently lets himself down. When I try to get him to stand on his own he cries and turns himself around and grabs a hold of me. I don't want to push him, but anyone else have a cautious baby?