Aim Evaluating effects of an enjoyable walking‐habituation program. Methods We carried out a 12‐week intervention, consisting of an enjoyable walking‐habituation program based on five principles of brain‐activating rehabilitation: pleasant atmosphere, interactive communication, social roles, praising each other and errorless support. The program, once a week for 90 min, was carried out in small groups. Participants were 71 community‐dwelling people (72.2 ± 4.3) without dementia. Cognitive function was evaluated in five cognitive domains: memory, executive function, word fluency, visuospatial abilities and sustained attention. Additionally, quality of life, depressive state, functional capacity, range of activities, social network and subjective memory complaints were assessed using questionnaires. Motor function was also evaluated. Measurement was carried out before the observation period, after observation and after intervention. Results A total of 63 participants were included in the analysis. Daily steps, executive function, subjective memory complaints, functional capacity and 5‐m maximum walking time significantly improved during the intervention period (after observation to after intervention) compared with the observation period (before the observation period to after observation). No significant differences were seen in other evaluations. At 6 months after the intervention, 52 of 63 participants (82.5%) continued to walk once a week or more, and all of them were confident about continuing to walk in the future. Furthermore, all participants were satisfied with our walking‐habituation program and all replied that they felt delighted. Conclusion The intervention program, based on the five principles of brain‐activating rehabilitation, resulted in improvement of some cognitive and physical functions, as well as a high walking‐habituation rate at 6 months' follow up. Geriatr Gerontol Int 2015; ●●: ●●–●●.