My two-year-old hasn't started walking yet, though he can stand up on his own and walk with support. My wife and I are worried about it. Should we go to a doctor or wait for some more time?

hmm. maybe can bring him to see a doctor and see what doctore advise. but some.time there are some.kid will be slower that their same age group. fun worries too much . u can also bring him to thise void deck play ground and and let him exlpore. as he will sure see lot.of kids running here and there . he might wan to join in and also will try to walk on his own