Heals start low and work up
Change of gradient / surface is hardest
Wishiwas has great advice above
Couple of other things if you are used to walking in flats etc
Rather than put each foot forward put it towards the middle of your body
So to walk from with the right foot bring it slightly to the left as you move same with the left in the opposit direction
Stand up tall and drop your shoulders
For change in gradient / steps turn onto your diagonal hand on the banister if possible
Most important but good heals turn them to the side and look at the angle of the heal to the shoe the heal would also creat a straight line down from your heal pad
Make sure you have a good quality sole to keep your feet from pain
Make sure the anckle is support and the shoes fit properly
Also remember to give yourself plenty of time out of shoes and in flats
I can spend a whole day in 5inch plus heals and walk miles etc other people will be happy in and inch or maybe two
Always make sure you have flat shoes to drive