For 'successful high heel walking' - as Gweneth Paltrow puts it 
- you need to have strong and flexible ankles.
You need to stretch your instep, so sit on your feet on the floor and this will stretch them. Try this yoga pose Virasana or this one Vajrasana if your knees aren't up to that stretch. You can tuck your toes under for a more extreme foot stretch with Vajrasana.
If you can point your toes and you can arch your ankle than you probably will have no difficulty with high heels, but if, when pointing your toe, you have a flat line from toe to knee, and no arch in your foot, you'll find it more difficult to walk in high heels. So you need to exercise your ankles and stretch them. Sit or lie down with legs off the ground and do rotations of your feet - make little circles with them - to strengthen and stretch them. 20 times one way and 20 times the other as often as you can.
Then strap on your heels and walk from heel to toe, with your feet slightly pointing outward. Move your weight from the heel to the outside of your foot and then to the ball of your foot in a rolling movement. Wiggle your bum - it is the point of high heels after all 
Easy peasy.
Or just wear dinner / bedroom shoes and take a taxi.
You can look up lessons on youtube, but there are a lot of weird fetish vids out there!! Alternatively have a look at