According to the National Health Service, an average person burns around 0.044 calories per step when walking briskly or 44 calories for each 10 minutes of brisk walking (around 1,000 steps). The amount of calories burned per step varies by the individual; body weight affects the amount of calories burned.
Fitness Technologies offers an online calculator that incorporates body weight and the number of steps walked into a calories-burned answer. The speed and intensity of the workout also affects the number of calories burned per step. The New York Times reports Dr. Cedric Bryant, chief science officer for the American Council on Exercise, as saying that walking up stairs burns between 5 and 9 calories per minute depending on the person's body weight.