Problem: The importance of being physically active in older adults has been well documented. Physical activity has been associated with improved physical capacity (muscle strength, balance, endurance), slowing of age-associated cognitive decline and neurodegeneration, and decreasing the likelihood of developing chronic disease. There is a tendency to become less active with age. Clinicians need to find ways to help older adults maintain physical activity levels. The objective of this study was to estimate the association of balance and walking self-efficacy with physical activity and describe the types and duration of self-reported moderate to vigorous physical activity (MVPA) and self-reported physical activity (of all intensities) in community-dwelling older adults with difficulty walking outside. Methods: Baseline data from the Getting Older Adults Outdoors (GO-OUT) randomized controlled trial were used in this cross-sectional study. Simple and multiple linear regression models were used to estimate the associations of balance and walking self-efficacy with objective and self-reported measures of physical activity. Participants were asked to wear accelerometers to obtain moderate to vigorous physical activity (MVPA) information. The Community Health Activities Model Program for Seniors questionnaire (CHAMPS) was used to analyze the type and duration of self-reported physical activity. Results: Data from 190 participants (139 females and 51 males) with an average age of 74.5 years was available for analysis. Balance and walking self-efficacy were positively associated with objectively measured MVPA while walking self-efficacy alone was positively associated with self-reported physical activity. Participants reported spending most of their time in light-intensity physical activities such as walking for errands or leisure. Conclusion: This research provides evidence of a relationship between balance and walking self-efficacy with physical activity. It also confirms that walking is the most common activity in this population despite having reported difficulty walking outside. Clinicians could use this information to target walking activities by considering strategies to improve balance and walking self-efficacy. Future research should evaluate the effectiveness of treatments to improve balance and walking self-efficacy with changes to physical activity.