Re: walking in a circle technique??
Walk around a "hula hoop," heel-to-toe, always keeping the edges of your feet in contact with the hoop. You can walk along the inside or the outside of the hoop. If you want, as you walk reach forward with your outside arm and imagine uke hanging on to your extended wrist, walking alongside you. Once you get the hang of this, try it with a smaller hoop (perhaps a crochet hoop).
The keys are (1) to walk heel-to-toe, because that's what you'll have to do once the circle gets very small, and (2) to keep the edges of your feet in contact with the hoop. If your feet lose contact with the hoop, you will lose contact with uke and will no longer be leading uke in a circle.