Walking when your foot is asleep or numb is not always bad and can sometimes help relieve the numbness of your foot and helps to wake your foot up sometimes.
When I have my foot fall asleep sometimes shaking the foot around or getting up and walking a bit can help wake the foot up.
The walking helps get the circulation of blood going which sometimes blood flow being restricted causes some foot numbness and causes my foot to go to sleep.
However be aware that you might fall down if you try to walk while you're foot asleep but it's not bad entirely to walk when your foot is asleep.
Also just give it time and the foot should wake up and not be asleep anymore.