How to practice standing and walking at home

Hi stroke fam, looking for some guidance. My dad (71) had a stroke almost 3 months ago. He spent 2 months in acute care and rehab and came home at the end of July. He’s now doing outpatient rehab. He has no use of his right arm, hand, or shoulder. He can move his right leg but it’s hard. He exclusively uses a wheelchair at home.

In rehab sessions he practices standing, transferring, and walking. He’s walked on the parallel bars and with a hemi walker. Most recently he went 40 feet with the hemi walker, with the therapist there to prevent a fall. While he can do this in therapy with a trained professional, nobody in the family feels confident enough to help him practice walking at home yet.

How did you gain confidence to start walking at home? How can the family help? He has a platform walker with hand brakes but it’s not great since he can’t use one hand. A traditional walker doesn’t work great either when you only have one hand.

I know he’s strong enough to stand and walk a short distance but there’s a big fear factor. What helped you? Any advice, devices, or techniques would be much appreciated.