Here is a video of some exercises you can incorporate into a dynamic warm up before you go out and walk with your poles.
Remember, the purpose of a dynamic warm up is to wake up your body before you exercise. It helps to protect against injury and promotes a better exercise experience. The exercises are not meant to be held for a length of time like static stretches. Just work through body movements that will prepare you for your physical activity and it will begin to increase your heart rate, stimulate your nervous system, and you may even start to sweat a little. The video shows just a couple of reps of each exercise. To make the warm up last about 5-8 minutes, you can add more reps.