When we put our slippers on the ground for walking, which friction works on it?

The friction that allows us to walk depends on gravity to convert our mass into weight which holds our feet against the surface where static friction enables the soles of our shoes and slippers to push off against the surface of the Earth.

And, once the force applied in moving or walking crosses or overcome the maximum static friction (also known as limiting friction) the body or object starts moving. It implies that kinetic friction replaced static friction.

Kinetic friction, also known as dynamic friction is the force that acts against an object's motion in a direction opposite to the direction of motion. It occurs when two surfaces are in relative motion to each other.