what does the bible say?
Some people may point to Joshua 6 as an example of a community doing a prayer walk in the modern understanding of the term, but this is a misunderstanding and misapplication of Scripture. In that passage, God commanded the Israelites to walk around the city of Jericho seven times to conquer it. However, it does not specifically say that the people prayed, and more crucially, the passage is clearly a descriptive passage rather than prescriptive—so we should read it in its biblical, historical context but not directly apply it to modern society.
Even so, believers certainly can do prayer walks and be heard by God while doing so. Believers have a relationship with Jesus, so He is with us everywhere and at every place we go to (John 15:7). Moreover, we should be in continual prayer (1 Thessalonians 5:17), and this can include praying while walking to work, making an outside area our “secret place” to walk in while we communicate with God, praying with a group of believers on a community prayer walk, and so on. What matters is that we pray.