I need advice about walking to lose weight?!

You really should go. Even though you might feel that it's embarrassing to return after gaining some weight back, everyone else will most likely be very proud of you and very happy for you to have come back. Put yourself in their shoes. You would be so happy to see someone come back and walk in the park again.
If people say anything at all, just say that you had to take a break for a while but now you're happy you're back. You can do it. No one cares about what other people think anyway. It's all about you!!! :) :) :)

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Tell them your pregnant.