Objective: This study investigated step rates (SR) during overground walking to estimate the relative aerobic capacity that corresponds to a moderate intensity. Methods: The present study utilized a repeated measure, within-subjects design incorporating a counterbalanced order. A total of twenty-three healthy men walked on a 119-meter oval track with artificial turf at self-selected pace (FP), 100, 120, and 140 steps/min for 6 min each while oxygen uptake (VO₂), speed (in km/h), distance (in m), and steps (in steps/min) were measured. Results: During FP, participants walked an average cadence of 117 ± 9.3 steps/minclose to 120 steps/min, which corresponds to 4.7 metabolic equivalents (METs). The estimated VO₂ reserve was 30.5% of VO₂ reserve at the FP and was close to the 120 steps/min of 33.3%. At the 100 and 140 steps/min, the VO₂ reserve were 24.1% and 45.2%, respectively. The regression analysis revealed that an SR of 88.2 elicited 3METs and 17.1% of VO₂reserve. Additionally, an SR of 129 elicited 5.9METs and 40% of VO₂ reserve. Conclusions: This study demonstrated that a moderate walking intensity for young, healthy men corresponded to 128.9 steps per minute. A range of 120 ~ 140 steps/min for walking could be recommended as a general guideline for moderate-intensity exercise. However, concerning providing public guidelines, caution should be taken regarding determining the moderate walking intensity due to the individual’s fitness level.