To improve your balance, take a class on Tai Chi. It helped me quite a bit. You will learn how to put your body's weight on one foot and then the other. Before the class I couldn't put my pants or underwear on without leaning on a surface. Now I can do it.

I do not fall but sometimes I lose my balance, especially when I quickly change direction.

There are several forms of Tai Chi. The one to take is the one that concentrates on slow movement and balance.

Both of my feet are numb, from the toes to the middle of the foot.