Zeno's paradox occurs in a continuous space. It isn't about taking individual step, it's about a series of events which must occur before you reach your destination if you are moving continuously.
It's impossible to get to the destination without first getting half way there. It's impossible to get half way there without first getting a quarter of the way there. And so on.
The theory was that it would take an infinite number of such events occurring, in order, before you could get to your destination. Thus, it "should be impossible."
If you indeed have a discrete world, such as "I am two steps away from my destination," and you only consider discrete transitions from the start of your walk, to half way, to completed, Zeno's paradox does not apply. However, if someone were to stand in your way 1.3 steps into your "discrete" walk and try to impede your motion, you would find this discrete model is not a good model of reality. Reality is typically considered more continuous than that.
Zeno's paradox still has its place in philosophy, but the physical application of it regarding movement in the real world has been displaced by calculus. In calculus, we can use limits to manage these infinite strings of events in a way which modern physicists and engineers have found sufficiently valid that we no longer mind these sorts of paradoxes which create an infinite string of infinitely small events (or, to be more precise, we have very strict criteria as to which strings of events are physically realizable and which ones are not, typically formalized as epsilon-delta proofs. Zeno's original paradox is physically realizable)