would parallel bars be the safest / best way?

I use a up n free walker, it has a bicycle seat and strap for safety. I just tried a regular walker for the first time in a long time, trying out the platform arm attachments for better posture and support. The idea is to be actually fully on my feet, it was scary compared to a seat and strap. I took one and a half steps. I think if I keep at it I will get better, but I'm discouraged. Anyway, for being on your feet and practicing walking, would parallel bars be the best route to begin with? And any ideas for low priced solutions? Thank you