On any short walk, narrate what your child is doing as it happens, like a commentator: 'you are climbing... climbing... now you are jumping down!'
Stay on verbs rather than nouns, and match your pace to theirs so the word lands while the action is still happening.
When they stop to look at something, stop talking too. Narrate the action, not the pause.
Verbs are learned later and less reliably than nouns because they name something that disappears as you say it. Narrating in the moment binds the word to the movement while the child can still feel it, which is what makes it stick.