I think you should make your writing more academic. Avoid to use 'our', 'we', 'us'. Also, there are some grammatical errors.
Firstly, parents are our first teacher who teaches us how to walk . Since we were a baby, we could not completely walk by ourself . With helps and loves from parents, we could walk a step by step. Sometimes we fell, our parents would encourage us. It seems like a motivation that makes us keep practicing until we do it.
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parents are our first teacher who teaches us how to walk ' should be '
parents are our first teachers who teach us how to walk ', because 'parents' are plural, so 'teachers' are also plural.
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we could not completely walk by ourself ' should be '
we could not completely walk by ourselves ' because 'we' are plural.
So, make sure 'verbs' agree with 'subjects' and be careful with 'singular' and 'plural' nouns.