This is my second time on the 12-work plan so I did 10,000 steps a day every day until I reached 1 million steps. So challenging yourself with a goal works.
It takes me 1 1/4 hours to walk 10, 000 steps. I use my phone (Samsung Health app) as a pedometer but I check the time walking rather than the steps. I know 40 minutes is more than 5000 steps, 15 minutes is 2000 and so on. I walk in the morning in the shade of a shopping centre or park during the day and during gym sessions.
I am a full-time student so I can allocate my time. But I am sure if you are a full-time worker you could allocate your time to get 10,000. I think my best tip is to think in terms of walking time periods rather than the number of steps.