Learn-to-walk system includes a walker having a toddler retainer for retaining a toddler and a substrate support for supporting the toddler retainer on a substrate. The substrate support includes caster assemblies that enable the substrate support to move on the substrate. The toddler retainer rotates relative to the substrate support such that while the substrate support remains in a stationary position, the toddler retainer is rotatable. An elongate armature has a first end region coupled to the toddler retainer or substrate support in a manner to allow swiveling thereof relative to the armature such that the walker is movable into different positions relative to the armature. A second end region of the armature is coupled to an object, so that the substrate support is limited in its movement relative to the object by the armature. The toddler retainer may also be configured to secure to walking wings.