it is hard to explain without knowing exactily how your rig is set up. insted of creating a walkcycle and moving the whole armature forwerds.
make a walkcycle and grab the keys in the action editor, move them all forwerds to the frame you want the walk to start. asuming your cycle is 20 frames long move forwerds 10 frames move the palvice forwerds, key it. go back to the start frame and copy the pose of the statinary foot and paste it over the key 10 frames forwerd delite any intermidiate keys for this bone that foot will now stay perfectily still, corect the positions of the outher bones, continue like this untill the cycle is completed.
hope you can understand;)
if you dont already have it i higly recomend that you read “introducing character animation with blender” it explains what i have tryed to explain in a easier to understand manor:)
you should consider storyboarding the animation, it will help you quickly work out the problems