Apparently there are a couple of great ways to see the walk. The first is to be there in person. You can pay for your regular admission up the Skylon Tower and you will see him walk. There are signs around the property indicating this, as well as the fact that you can see him in person just before the walk.
When he was here 5 years ago, I posted a couple of videos. You can see the shorter video (30s) here:
You can see the longer video (2 1/2 minutes) here: