Shovel as much snow and ice as you can off of the walkway. This will make it easier to find the ice and begin melting it.
Sprinkle a generous amount of baking soda wherever the icy patches are. The baking soda will melt the ice but not cause any damage to the pavement like salt can.
Sprinkle the area with sand after the melting process has begun. This will create traction and prevent any slipping or falling on the ice.