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The way to change his behavior is through positive reinforcement. Make sure to praise him and appreciate him whenever he is walking by himself.
Another technique would be to reward him with his favorite chocolate or ice cream or whatever he likes when he walks by himself for a few steps. Make sure you give him the reward when he does this. Later the number of steps can be increased to keep getting the reward as your son's behavior improves. Also with the reward please continue praising him.
I would recommend you to read the below well written article regarding this:
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