Toddler…odd walking pattern

Our grandson occasionally “prances” as he walks… He is not yet 2 years old and often goes barefoot.
He places his weight on the inside of his left foot and almost curls his big toe under…changes after only a few steps this way, but sometimes gets off balance and falls.
The family doctor says his leg bones are the same, but we are concerned that the boy might develop some bone problems if he continues this.