How to walk in High Heeled shoes?

I will never wear stilettos because I don't think I would ever be able to walk in them, but I do wear wedges, thick healed shoes, and cone shaped heeled shoes (2-5 inches). I can walk in them, to the point where, I never fall or anything but I still walk pretty awkward and a bit heavily, like a a lot of clucking and you can tell I put my legs and knees into it too much which I know you shouldn't do. See my problem is I am a bit flat footed and a pigeon toed (my pigeon toed isn't too bad though). See I really love wearing heels though, I just want to know, is there anyway for me to improve and not walk so awkward and heavy?