Introduction
The above tutorial from GMB is an excellent entry into locomotion. You can view their full guide here.
The bear walk is a contralateral gait pattern which is performed with the hips high. This is different to the quadrupedal crawl, which shares similar gait patterns but the hips are kept low.
With the hips stacked high, it reduces loading on the wrists and shoulders and so is a good introduction to becoming comfortable with using hands as support.