It was in philosophy class where Walker met his first wife, Barbara Ann Walker. They were married in September 1957. This is the same year Walker entered the Air Force and went from San Antonio, Texas and then was posted in Harlingen Air Force Base before serving as First Lieutenant, 2nd in command of 350 Airmen of the 42nd Supply Squadron. At Loring Air Force base, Walker became founder and artistic director of Pine Tree Theatre Guild in 1958-1960. His first son was born in Limestone, Maine while posted at Loring Air Force Base Michael Alexander Walker. Walker's second son, Steven Martin Walker was born in 1962 when he was discharged and decided to pursue an MFA in theatre and Elizabethan Drama minor at Catholic University. It was at this time that Barbara Walker pursued her law degree.

Walker's time in the Air Force is very significant because Jeff William's, Walker's main character from The River Niger, also was discharged from the Air Force. Jeff Williams character also makes references to symbolically asking everyone at the Air Force base to let go of my toe. Barbara Walker has stated that The River Niger may be semi auto-biographical.

He taught at Spingarn High School in Washington D.C. from 1963-1965 as an English/ Drama teacher.

He then began the pursuit of an acting career In 1966. He began studying voice and vocal reproduction from Brook Alexander, and at the end of that year joined Voices, Inc. He remained narrator, lead singer and artistic director of this organization until the Believers was produced in 1968. The Believers was co-authored by Walker and Josephine Jackson.

In 1969 to 1975, he taught at C.C.N.Y Leonard Davis Center of Performing Arts. as an Associate Professor in the Speech and Theatre Department. Also in 1969 he met Moses Gun who introduced him to Douglas Turner Ward, the Artistic director of The Negro Ensemble Company, which led to the production of "The Harangues", opening the 1969-1970 season. "Ododo", which Walker wrote, directed and co-choreographed opened with mixed reviews in the 1970-1971 season at NEC, whose music was composed and directed by his second wife Dorothy Ann Dinroe-Walker, also a Howard University graduate. Walker married Dorothy A. Dinroe in 1970, a match made in their love for the arts.

During this time Walker, wanting to create his own theatre company thereby became the artistic director of the Demi-Gods. The Demi-Gods, was co-founded along with wife Dinroe-Walker, between 1970-74. In 1971-72, Walker along with Dorothy A. Walker co-produced Ying Yang at the African American Studio. In 1972-73, Douglas Turner Ward went into production for the The River Niger. The response To The River Niger was so overwhelming that the play was moved to the Brooks Atkinson Theatre on Broadway in 1973. It was this same year in which his first daughter was born, Kumina Walker.

Walker received 400 hours towards a Motion Picture Production Certificate received at the Germaine School of Photography, N.Y.C. in 1973. Walker completed 28 credits towards his Ph.D. program in Cinema Studies at New York University. Walker was given the honor to become a playwright in residence at Yale University School of Drama in New Haven Connecticut. In 1974, The River Niger won the Tony Award for best play.

Walker spent his last years continuing his writings while maintaining full tenure as well as Theatre Arts Chair for Rutgers University's Camden Campus. He is survived by his five children Michael Walker, Steven Walker, Kumina Walker, Nandi Walker and Jodoa Walker. Walker's youngest son, Kamau Walker predeceased him in 2001.