Hey ladies! Question about toddler not fully walking

So my little guy is 15 months old and he's SO stubborn with walking. He's taken 20 steps continuously so far but we notice whenever we watch him he stops or if we try to get him to walk he resists and gets mad. I went to his 15 month appt today and his doctor is on maternity leave so we saw a different doctor and he said he's concerned that he's not fully walking and tried to force him to walk after I just told him he never does it when he feels he has to. Any mamas babies the same way? I left feeling like my son is way behind development wise. Should I be concerned or was the doctor just a jerk?