How friction enables us to walk without slipping?
When you walk you apply a force with your foot to the ground by pulling your foot back (first half of a step) and then pushing it further back (when the other foot sutpasses it) before raising it to take your next step.
Friction is the force that keeps your foot at the same point during that sequence of actions, by resisting the foot’s tendency to move against the ground. While your foot is on the ground it applies a force to it, essentially pushing it back, as you move. By Newton’s 3rd law, the ground applies an equal reaction, pushing your foot forward and thus allowing you to move ahead.
If there was no friction between your foot and the ground you’d be in quite a funny situation where pulling (or pushing) your foot back would have no effect on the ground. The ground would not push you forward and you’d be stuck in place