For lower back function, sciatic symptoms (nerve or pain symptoms in one leg), and general improvement of walking and running, the all-fours position can be very helpful. Of course the crawling position is important in terms of human development, why wouldn’t it be important in learning to move better and more comfortably?
Set yourself up with whatever padding you might need for your knees or feet, and remember that you can support your arms on the palms of your hands or with your hands in fists. As always, keep yourself comfortable and take rests whenever you’d like.