Did anyone seek therapy to help your baby learn to walk on their own??

My son is now 16 months old and since 10 months he has been cruising and walking holding on to sofa, his toys, the wall. and then around 12 months he was walking just holding on to a hand walking in the front of us...then after a month he was walkin side to side real fast just holding on to one finger or thumb. he's the same now. and about a month and half ago at my parent's place he was getting up the carpeted stairs with his knees. then 2 weeks later at my home, he was getting up the hard wood stairs we have with his feet. He was stepping up using his feet like we adults do. When i told family what he was doing, they said it means he has good strength in his legs and just that when we let go of him while walking, he sits down or crawls because he is scared to let go or is lazy to walk around. Somtimes based on his mood he will stand a few seconds when letting go of his hand, other times he sits down. his Dr says no to therapy cause my son can walk fine...just not on his yet.