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Yes, he's probably just fine. Over the course of his first year your baby has gradually developed coordination and muscle strength throughout his body, learning to sit, roll over, and crawl. Many children move on to pulling up and standing by about 9 months old.
From then on, it's a matter of gaining confidence and balance. Babies usually take their first steps sometime between 9 and 12 months, but it's okay if your child takes a little longer.
Some children don't walk until they're 16 or 17 months old, and that's still perfectly normal. If your baby was a little late learning to roll over and crawl, chances are he'll need a few extra weeks or months for walking as well.
The important thing is the progression of skills: As long as he keeps learning new things, you don't have to be too concerned about exactly when he reaches each milestone. (And if your baby was premature, use his adjusted age when gauging developmental milestones.)
But if your child isn't walking by 18 months, check in with his doctor so she can evaluate his language, social, and fine motor skills. If these also seem delayed, she may refer you to a developmental pediatrician. If your child seems on track with other milestones, the doctor may examine him for orthopedic, neurological, or other problems.
Either way, she may recommend an early intervention program.